Experimental observation of both negative and positive phase velocities in a two-dimensional sonic crystal

International Nuclear Information System (INIS)

Lu, Ming-Hui; Feng, Liang; Liu, Xiao-Ping; Liu, Xiao-Kang; Chen, Yan-Feng; Zhu, Yong-Yuan; Mao, Yi-Wei; Zi, Jian

2007-01-01

Both negative and positive phase velocities for acoustic waves have been experimentally established in a two-dimensional triangular sonic crystal (SC) consisting of steel cylinders embedded in air at first. With the increase of the SCs thickness layer by layer in the experiments, phase shifts decrease in the second band but increase in the first band, showing the negative and the positive phase velocities, respectively. Moreover, the dispersion relation of the SC is constructed by the phase information, which is consistent well with the theoretical results. These abundant characteristics of acoustic wave propagation in the SC might be useful for the device applications

An investigation of airborne GPS/INS for high accuracy position and velocity determination

Energy Technology Data Exchange (ETDEWEB)

Sun, H.; Cannon, M.E. [Calgary Univ., AB (Canada). Dept. of Geomatics Engineering; Owen, T.E.; Meindl, M.A. [Sandia National Labs., Albuquerque, NM (United States)

1993-12-31

An airborne test using a differential GPS-INS system in a Twin Otter was conducted by Sandia National Laboratories to assess the feasibility of using the integrated system for cm-level position and cm/s velocity. The INS is a miniaturized ring-laser gyro IMU jointly developed by Sandia and Honeywell while the GPS system consists of the NovAtel GPSCard{trademark}. INS position, velocity and attitude data were computed using Sandia`s SANDAC flight computer system and logged at 4 Hz and GPS data was acquired at a 1 Hz rate. The mission was approximately 2.5 hours in duration and the aircraft reached separations of up to 19 km from the base station. The data was post-processed using a centralized Kalman filter approach in which the double differenced carrier phase measurements are used to update the INS data. The INS position is in turn used to detect and correct GPS carrier phase cycle slips and also to bridge GPS outages. Results are presented for the GPS-only case and also for integrated GPS/INS.

Pose and Shape Reconstruction of a Noncooperative Spacecraft Using Camera and Range Measurements

Directory of Open Access Journals (Sweden)

Renato Volpe

2017-01-01

Full Text Available Recent interest in on-orbit proximity operations has pushed towards the development of autonomous GNC strategies. In this sense, optical navigation enables a wide variety of possibilities as it can provide information not only about the kinematic state but also about the shape of the observed object. Various mission architectures have been either tested in space or studied on Earth. The present study deals with on-orbit relative pose and shape estimation with the use of a monocular camera and a distance sensor. The goal is to develop a filter which estimates an observed satellite’s relative position, velocity, attitude, and angular velocity, along with its shape, with the measurements obtained by a camera and a distance sensor mounted on board a chaser which is on a relative trajectory around the target. The filter’s efficiency is proved with a simulation on a virtual target object. The results of the simulation, even though relevant to a simplified scenario, show that the estimation process is successful and can be considered a promising strategy for a correct and safe docking maneuver.

Efficient structure from motion on large scenes using UAV with position and pose information

Science.gov (United States)

Teng, Xichao; Yu, Qifeng; Shang, Yang; Luo, Jing; Wang, Gang

2018-04-01

In this paper, we exploit prior information from global positioning systems and inertial measurement units to speed up the process of large scene reconstruction from images acquired by Unmanned Aerial Vehicles. We utilize weak pose information and intrinsic parameter to obtain the projection matrix for each view. As compared to unmanned aerial vehicles' flight altitude, topographic relief can usually be ignored, we assume that the scene is flat and use weak perspective camera to get projective transformations between two views. Furthermore, we propose an overlap criterion and select potentially matching view pairs between projective transformed views. A robust global structure from motion method is used for image based reconstruction. Our real world experiments show that the approach is accurate, scalable and computationally efficient. Moreover, projective transformations between views can also be used to eliminate false matching.

Pose Planning for the Feed Support System of FAST

Directory of Open Access Journals (Sweden)

Rui Yao

2014-01-01

Full Text Available A six-cable driven parallel manipulator and an A-B rotator in the feed support system of the Five-hundred-meter Aperture Spherical radio Telescope (FAST are adopted for realizing the position and pose of nine feeds. The six-cable driven parallel manipulator is a flexible mechanism, which may not be stably controlled due to a small cable tension. The A-B rotator is a rigid mechanism, and its stability and accuracy can be improved by small pose angle. Based on the different characteristics, a pose planning function is presented. The optimization target of the pose planning function is to get the smallest pose angle of the A-B rotator, and the constraint condition can reflect the controllability of the six-cable driven parallel manipulator. Then, the pose planning realization process of the feed support system is proposed. Based on the pose planning method, optimized pose angles of the feed support system for the nine feeds are obtained, which suggests that the pose angle of the six-cable driven parallel manipulator changes from 0° to 14° and the pose angle of the A-B rotator changes from 0° to 26.4°.

Three-dimensional imaging of absolute blood flow velocity and blood vessel position under low blood flow velocity based on Doppler signal information included in scattered light from red blood cells

Science.gov (United States)

Kyoden, Tomoaki; Akiguchi, Shunsuke; Tajiri, Tomoki; Andoh, Tsugunobu; Hachiga, Tadashi

2017-11-01

The development of a system for in vivo visualization of occluded distal blood vessels for diabetic patients is the main target of our research. We herein describe two-beam multipoint laser Doppler velocimetry (MLDV), which measures the instantaneous multipoint flow velocity and can be used to observe the blood flow velocity in peripheral blood vessels. By including a motorized stage to shift the measurement points horizontally and in the depth direction while measuring the velocity, the path of the blood vessel in the skin could be observed using blood flow velocity in three-dimensional space. The relationship of the signal power density between the blood vessel and the surrounding tissues was shown and helped us identify the position of the blood vessel. Two-beam MLDV can be used to simultaneously determine the absolute blood flow velocity distribution and identify the blood vessel position in skin.

To Strike a Pose: No Stereotype Backlash for Power Posing Women

Directory of Open Access Journals (Sweden)

Miriam Rennung

2016-09-01

Full Text Available Power posing, the adoption of open and powerful postures, has effects that parallel those of actual social power. This study explored the social evaluation of adopting powerful versus powerless body postures in men and women regarding perceived warmth, competence, and the likelihood of eliciting admiration, envy, pity, and contempt. Previous findings suggest that the display of power by women may have side effects due to gender stereotyping, namely reduced warmth ratings and negative emotional reactions. An experiment (N = 2,473 asked participants to rate pictures of men and women who adopted high-power or low-power body postures. High-power posers were rated higher on competence, admiration, envy, and contempt compared to low-power posers, whereas the opposite was true for pity. There was no impact of power posing on perceived warmth. Contrary to expectations, the poser’s gender did not moderate any of the effects. These findings suggest that nonverbal displays of power do influence fundamental dimensions of social perception and their accompanying emotional reactions but result in comparably positive and negative evaluations for both genders.

Wind Velocity and Position Sensor-less Operation for PMSG Wind Generator

Science.gov (United States)

Senjyu, Tomonobu; Tamaki, Satoshi; Urasaki, Naomitsu; Uezato, Katsumi; Funabashi, Toshihisa; Fujita, Hideki

Electric power generation using non-conventional sources is receiving considerable attention throughout the world. Wind energy is one of the available non-conventional energy sources. Electrical power generation using wind energy is possible in two ways, viz. constant speed operation and variable speed operation using power electronic converters. Variable speed power generation is attractive, because maximum electric power can be generated at all wind velocities. However, this system requires a rotor speed sensor, for vector control purpose, which increases the cost of the system. To alleviate the need of rotor speed sensor in vector control, we propose a new sensor-less control of PMSG (Permanent Magnet Synchronous Generator) based on the flux linkage. We can estimate the rotor position using the estimated flux linkage. We use a first-order lag compensator to obtain the flux linkage. Furthermore‚we estimate wind velocity and rotation speed using a observer. The effectiveness of the proposed method is demonstrated thorough simulation results.

Perspective projection for variance pose face recognition from camera calibration

Science.gov (United States)

Fakhir, M. M.; Woo, W. L.; Chambers, J. A.; Dlay, S. S.

2016-04-01

Variance pose is an important research topic in face recognition. The alteration of distance parameters across variance pose face features is a challenging. We provide a solution for this problem using perspective projection for variance pose face recognition. Our method infers intrinsic camera parameters of the image which enable the projection of the image plane into 3D. After this, face box tracking and centre of eyes detection can be identified using our novel technique to verify the virtual face feature measurements. The coordinate system of the perspective projection for face tracking allows the holistic dimensions for the face to be fixed in different orientations. The training of frontal images and the rest of the poses on FERET database determine the distance from the centre of eyes to the corner of box face. The recognition system compares the gallery of images against different poses. The system initially utilises information on position of both eyes then focuses principally on closest eye in order to gather data with greater reliability. Differentiation between the distances and position of the right and left eyes is a unique feature of our work with our algorithm outperforming other state of the art algorithms thus enabling stable measurement in variance pose for each individual.

Tooth display and lip position during spontaneous and posed smiling in adults.

NARCIS (Netherlands)

Geld, P.A.A.M. van der; Oosterveld, P.; Berge, S.J.; Kuijpers-Jagtman, A.M.

2008-01-01

OBJECTIVE: To analyze differences in tooth display, lip-line height, and smile width between the posed smiling record, traditionally produced for orthodontic diagnosis, and the spontaneous (Duchenne) smile of joy. MATERIAL AND METHODS: The faces of 122 male participants were each filmed during

Design of container velocity profile for the suppression of liquid sloshing

Science.gov (United States)

Kim, Dongjoo

2016-11-01

In many industrial applications, high-speed position control of a liquid container causes undesirable liquid vibrations called 'sloshing' which poses a control challenge in fast maneuvering and accurate positioning of containers. Recently, it has been shown that a control theory called 'input shaping' is successfully applied to reduce the sloshing, but its success comes at a cost of longer process time. Therefore, we aim to minimize liquid sloshing without increasing the process time when a container moves horizontally by a target distance within a limited time. In this study, sensing and feedback actuation are not permitted but the container velocity is allowed to be modified from a given triangular profile. A new design is proposed by applying input shaping to the container velocity with carefully selected acceleration time. That is, the acceleration time is chosen to be the 1st mode natural period, and the input shaper is determined based on the 3rd mode natural frequency. The proposed approach is validated by performing numerical simulations, which show that the simple modification of container velocity reduces the sloshing significantly without additional process time in a feedforward manner. Supported by the NRF programs (NRF-2015R1D1A1A01059675) of Korean government.

Problem Posing

OpenAIRE

Šilhavá, Marie

2009-01-01

This diploma thesis concentrates on problem posing from the students' point of view. Problem posing can be either seen as a teaching method which can be used in the class, or it can be used as a tool for researchers or teachers to assess the level of students' understanding of the topic. In my research, I compare three classes, one mathematics specialist class and two generalist classes, in their ability of problem posing. As an assessment tool it seemed that mathemathics specialists were abl...

Robotic-surgical instrument wrist pose estimation.

Science.gov (United States)

Fabel, Stephan; Baek, Kyungim; Berkelman, Peter

2010-01-01

The Compact Lightweight Surgery Robot from the University of Hawaii includes two teleoperated instruments and one endoscope manipulator which act in accord to perform assisted interventional medicine. The relative positions and orientations of the robotic instruments and endoscope must be known to the teleoperation system so that the directions of the instrument motions can be controlled to correspond closely to the directions of the motions of the master manipulators, as seen by the the endoscope and displayed to the surgeon. If the manipulator bases are mounted in known locations and all manipulator joint variables are known, then the necessary coordinate transformations between the master and slave manipulators can be easily computed. The versatility and ease of use of the system can be increased, however, by allowing the endoscope or instrument manipulator bases to be moved to arbitrary positions and orientations without reinitializing each manipulator or remeasuring their relative positions. The aim of this work is to find the pose of the instrument end effectors using the video image from the endoscope camera. The P3P pose estimation algorithm is used with a Levenberg-Marquardt optimization to ensure convergence. The correct transformations between the master and slave coordinate frames can then be calculated and updated when the bases of the endoscope or instrument manipulators are moved to new, unknown, positions at any time before or during surgical procedures.

Automatic generation of statistical pose and shape models for articulated joints.

Science.gov (United States)

Xin Chen; Graham, Jim; Hutchinson, Charles; Muir, Lindsay

2014-02-01

Statistical analysis of motion patterns of body joints is potentially useful for detecting and quantifying pathologies. However, building a statistical motion model across different subjects remains a challenging task, especially for a complex joint like the wrist. We present a novel framework for simultaneous registration and segmentation of multiple 3-D (CT or MR) volumes of different subjects at various articulated positions. The framework starts with a pose model generated from 3-D volumes captured at different articulated positions of a single subject (template). This initial pose model is used to register the template volume to image volumes from new subjects. During this process, the Grow-Cut algorithm is used in an iterative refinement of the segmentation of the bone along with the pose parameters. As each new subject is registered and segmented, the pose model is updated, improving the accuracy of successive registrations. We applied the algorithm to CT images of the wrist from 25 subjects, each at five different wrist positions and demonstrated that it performed robustly and accurately. More importantly, the resulting segmentations allowed a statistical pose model of the carpal bones to be generated automatically without interaction. The evaluation results show that our proposed framework achieved accurate registration with an average mean target registration error of 0.34 ±0.27 mm. The automatic segmentation results also show high consistency with the ground truth obtained semi-automatically. Furthermore, we demonstrated the capability of the resulting statistical pose and shape models by using them to generate a measurement tool for scaphoid-lunate dissociation diagnosis, which achieved 90% sensitivity and specificity.

Pose estimation of industrial objects towards robot operation

Science.gov (United States)

Niu, Jie; Zhou, Fuqiang; Tan, Haishu; Cao, Yu

2017-10-01

With the advantages of wide range, non-contact and high flexibility, the visual estimation technology of target pose has been widely applied in modern industry, robot guidance and other engineering practices. However, due to the influence of complicated industrial environment, outside interference factors, lack of object characteristics, restrictions of camera and other limitations, the visual estimation technology of target pose is still faced with many challenges. Focusing on the above problems, a pose estimation method of the industrial objects is developed based on 3D models of targets. By matching the extracted shape characteristics of objects with the priori 3D model database of targets, the method realizes the recognition of target. Thus a pose estimation of objects can be determined based on the monocular vision measuring model. The experimental results show that this method can be implemented to estimate the position of rigid objects based on poor images information, and provides guiding basis for the operation of the industrial robot.

Laparoscopic cholecystectomy poses physical injury risk to surgeons: analysis of hand technique and standing position.

Science.gov (United States)

Youssef, Yassar; Lee, Gyusung; Godinez, Carlos; Sutton, Erica; Klein, Rosemary V; George, Ivan M; Seagull, F Jacob; Park, Adrian

2011-07-01

This study compares surgical techniques and surgeon's standing position during laparoscopic cholecystectomy (LC), investigating each with respect to surgeons' learning, performance, and ergonomics. Little homogeneity exists in LC performance and training. Variations in standing position (side-standing technique vs. between-standing technique) and hand technique (one-handed vs. two-handed) exist. Thirty-two LC procedures performed on a virtual reality simulator were video-recorded and analyzed. Each subject performed four different procedures: one-handed/side-standing, one-handed/between-standing, two-handed/side-standing, and two-handed/between-standing. Physical ergonomics were evaluated using Rapid Upper Limb Assessment (RULA). Mental workload assessment was acquired with the National Aeronautics and Space Administration-Task Load Index (NASA-TLX). Virtual reality (VR) simulator-generated performance evaluation and a subjective survey were analyzed. RULA scores were consistently lower (indicating better ergonomics) for the between-standing technique and higher (indicating worse ergonomics) for the side-standing technique, regardless of whether one- or two-handed. Anatomical scores overall showed side-standing to have a detrimental effect on the upper arms and trunk. The NASA-TLX showed significant association between the side-standing position and high physical demand, effort, and frustration (p<0.05). The two-handed technique in the side-standing position required more effort than the one-handed (p<0.05). No difference in operative time or complication rate was demonstrated among the four procedures. The two-handed/between-standing method was chosen as the best procedure to teach and standardize. Laparoscopic cholecystectomy poses a risk of physical injury to the surgeon. As LC is currently commonly performed in the United States, the left side-standing position may lead to increased physical demand and effort, resulting in ergonomically unsound conditions for

An Improved Method of Pose Estimation for Lighthouse Base Station Extension.

Science.gov (United States)

Yang, Yi; Weng, Dongdong; Li, Dong; Xun, Hang

2017-10-22

In 2015, HTC and Valve launched a virtual reality headset empowered with Lighthouse, the cutting-edge space positioning technology. Although Lighthouse is superior in terms of accuracy, latency and refresh rate, its algorithms do not support base station expansion, and is flawed concerning occlusion in moving targets, that is, it is unable to calculate their poses with a small set of sensors, resulting in the loss of optical tracking data. In view of these problems, this paper proposes an improved pose estimation algorithm for cases where occlusion is involved. Our algorithm calculates the pose of a given object with a unified dataset comprising of inputs from sensors recognized by all base stations, as long as three or more sensors detect a signal in total, no matter from which base station. To verify our algorithm, HTC official base stations and autonomous developed receivers are used for prototyping. The experiment result shows that our pose calculation algorithm can achieve precise positioning when a few sensors detect the signal.

Performance Analysis and Design Strategy for a Second-Order, Fixed-Gain, Position-Velocity-Measured (α-β-η-θ Tracking Filter

Directory of Open Access Journals (Sweden)

Kenshi Saho

2017-07-01

Full Text Available We present a strategy for designing an α - β - η - θ filter, a fixed-gain moving-object tracking filter using position and velocity measurements. First, performance indices and stability conditions for the filter are analytically derived. Then, an optimal gain design strategy using these results is proposed and its relationship to the position-velocity-measured (PVM Kalman filter is shown. Numerical analyses demonstrate the effectiveness of the proposed strategy, as well as a performance improvement over the traditional position-only-measured α - β filter. Moreover, we apply an α - β - η - θ filter designed using this strategy to ultra-wideband Doppler radar tracking in numerical simulations. We verify that the proposed strategy can easily design the gains for an α - β - η - θ filter based on the performance of the ultra-wideband Doppler radar and a rough approximation of the target’s acceleration. Moreover, its effectiveness in predicting the steady state performance in designing the position-velocity-measured Kalman filter is also demonstrated.

The rarity of "unusual" [corrected] dispositions of victim bodies: staging and posing.

Science.gov (United States)

Keppel, Robert D; Weis, Joseph G

2004-11-01

The act of leaving a victim's body in an unusual position is a conscious criminal action by an offender to thwart an investigation, shock the finder and investigators of the crime scene, or give perverted pleasure to the killer. The unusual position concepts of posing and staging a murder victim have been documented thoroughly and have been accepted by the courts as a definable phenomenon. One staging case and one posing case are outlined and reveal characteristics of those homicides. From the Washington State Attorney General's Homicide Investigation and Tracking System's database on murder covering the years 1981-2000 (a total of 5,224 cases), the relative frequency of unusual body dispositions is revealed as a very rare occurrence. Only 1.3% of victims are left in an unusual position, with 0.3% being posed and 0.1% being staged. The characteristics of these types of murders also set them apart: compared to all other murders, in staged murders the victims and killers are, on average, older. All victims and offenders in the staged murders are white, with victims being disproportionately white in murders with any kind of unusual body disposition. Likewise, females stand out as victims when the body is posed, staged, or left in other unusual positions. Whereas posed bodies are more likely to include sexual assault, often in serial murders, there is no evidence of either in the staged cases. Lastly, when a body is left in an unusual position, binding is more likely, as well as the use of more "hands on" means of killing the victim, such as stabbing or cutting weapons, bludgeons, ligatures, or hands and feet.

Pose measurement method with six parameters for microassembly based on an optical micrometer

Science.gov (United States)

Ye, Xin; Wang, Qiang; Zhang, Zhi-jing; Sun, Yuan; Zhang, Xiao-feng

2009-07-01

This paper presents a new pose measurement method of microminiature parts that is capable of transforming one dimension (1D) contour size obtained by optical micrometer to three dimension (3D) data with six parameters for microassembly. Pose measurement is one of the most important processes for microminiature parts' alignment and insertion in microassembly. During the past few years, researchers have developed their microassembly systems focusing on visual identification to obtain two or three dimension data with no more than three parameters. Scanning electronic microscope (SEM), optical microscope, and stereomicroscope are applied in their systems. However, as structures of microminiature parts become increasingly complex, six parameters to represent their position and orientation are specifically needed. Firstly, The pose measurement model is established based on the introduction of measuring objects and measuring principle of optical micrometer. The measuring objects are microminiature parts with complex 3D structure. Two groups of two dimension (2D) data are gathered at two different measurement positions. Then part pose with 6 parameters is calculated, including 3 position parameters of feature point of the part and 3 orientation parameters of the part axis. Secondly, pose measurement process for a small shaft, vertical orientation determination, and position parameters obtaining are presented. 2D data is gathered by scanning the generatrix of the part, and valid data is extracted and saved in arrays. A vertical orientation criterion is proposed to determine whether the part is parallel to the Z-axis of the coordinate. If not, 2D data will be fixed into a linear equation using least square algorithm. Then orientation parameters are calculated. Center of Part End (CPE) is selected as feature point of the part, and its position parameters are extracted form two group of 2D data. Finally, a fast pose measurement device is developed and representative

Pose control of the chain composed of magnetic particles using external uniform and gradient magnetic fields

International Nuclear Information System (INIS)

Zhou, J. F.; Shao, C. L.; Gu, B. Q.

2016-01-01

Magnetic particles (MPs) are known to respond to a magnetic field and can be moved by magnetic force, which make them good carriers in bioengineering and pharmaceutical engineering. In this paper, a pose control method for the straight chain composed of MPs is proposed, and the chain with one pose can be moved to another position with another pose using alternately employed uniform and gradient magnetic fields. Based on computer simulations, it is revealed that in the uniform magnetic field, the MPs form a straight chain with the same separation space along the field lines, and once the uniform magnetic field rotates, the chain also rotates with the field. In the gradient magnetic field, the MPs move toward the higher field so that the translation of the chain can be realized. The simulation results indicate that while the uniform magnetic field is rotating, there exists certain hysteresis between the chain and the field, and the chain is not straight anymore. So the uniform magnetic field should rest at the target angle for a period to make the chain fully relax to be straight. For nanoMP, its magnetic moment directly determines the gradient magnetic force which is much smaller than the dipole–dipole force among MPs. Therefore, the translation of the chain is much more time-consuming than rotation. To enlarge the translational velocity, it is suggested to increase the size of MPs or the magnetic field gradient

ONKALO POSE experiment. Phase 3: acoustic and ultrasonic monitoring

International Nuclear Information System (INIS)

Reyes-Montes, J.; Flynn, W.; Huang, J.

2014-01-01

The objectives of the third phase of the POSE experiment are to determine the in situ state of stress at Olkiluoto and the spalling strength of Olkiluoto rock, by internal heating of the experimental hole (ONK-EH3) using 8 vertically installed heaters. This report presents the results from the Acoustic and ultrasonic monitoring carried out around the third experimental hole of the POSE niche between November 2012 and May 2013. The experiment was monitored using an array of 24 transducers installed along 4 monitoring drillholes and data was automatically acquired and processed using the system installed at the niche by Applied Seismology Consultants in May 2012. Daily ultrasonic surveys were carried out between 14 th November 2012 and 21 st May 2013, monitoring the changes in transmission velocities of P and S-waves with an estimated error of ±2 m x s -1 (ASC, 2013). Changes in transmission velocities closely follow the evolution of the temperature profile in the hole wall. An increase in both P-and S-wave transmission velocities is observed at all depth levels and surveyed raypaths during the heating phase, with the highest changes observed in raypaths skimming the hole surface and depths between 2.33 m and 3.7 m. This observation indicates the closure of in situ and excavation-induced microcracks due to thermal stress. After the heaters were switched off, P-wave velocities show a marked decrease, in all raypaths reaching values below those measured at the start of the monitoring approximately 4 weeks after the heaters were switched off. The highest decrease was observed along raypaths surveying the region skimming the hole wall. This decrease below original background values indicates the induction of rock degradation as microcracking induced through the heating-cooling cycle. Changes in P- and S-wave transmission velocity were used to calculate changes in Young's modulus and Poisson's ratio along the different raypaths and depth levels. An overall

Optical neural network system for pose determination of spinning satellites

Science.gov (United States)

Lee, Andrew; Casasent, David

1990-01-01

An optical neural network architecture and algorithm based on a Hopfield optimization network are presented for multitarget tracking. This tracker utilizes a neuron for every possible target track, and a quadratic energy function of neural activities which is minimized using gradient descent neural evolution. The neural net tracker is demonstrated as part of a system for determining position and orientation (pose) of spinning satellites with respect to a robotic spacecraft. The input to the system is time sequence video from a single camera. Novelty detection and filtering are utilized to locate and segment novel regions from the input images. The neural net multitarget tracker determines the correspondences (or tracks) of the novel regions as a function of time, and hence the paths of object (satellite) parts. The path traced out by a given part or region is approximately elliptical in image space, and the position, shape and orientation of the ellipse are functions of the satellite geometry and its pose. Having a geometric model of the satellite, and the elliptical path of a part in image space, the three-dimensional pose of the satellite is determined. Digital simulation results using this algorithm are presented for various satellite poses and lighting conditions.

Cerebral blood flow velocity changes during upright positioning in bed after acute stroke : An observational study

NARCIS (Netherlands)

Aries, Marcel J; Elting, Jan Willem; Stewart, Roy; De Keyser, Jacques; Kremer, Berry; Vroomen, Patrick

2013-01-01

Objectives: National guidelines recommend mobilisation in bed as early as possible after acute stroke. Little is known about the influence of upright positioning on real-time cerebral flow variables in patients with stroke. We aimed to assess whether cerebral blood flow velocity (CBFV) changes

Method of orthogonally splitting imaging pose measurement

Science.gov (United States)

Zhao, Na; Sun, Changku; Wang, Peng; Yang, Qian; Liu, Xintong

2018-01-01

In order to meet the aviation's and machinery manufacturing's pose measurement need of high precision, fast speed and wide measurement range, and to resolve the contradiction between measurement range and resolution of vision sensor, this paper proposes an orthogonally splitting imaging pose measurement method. This paper designs and realizes an orthogonally splitting imaging vision sensor and establishes a pose measurement system. The vision sensor consists of one imaging lens, a beam splitter prism, cylindrical lenses and dual linear CCD. Dual linear CCD respectively acquire one dimensional image coordinate data of the target point, and two data can restore the two dimensional image coordinates of the target point. According to the characteristics of imaging system, this paper establishes the nonlinear distortion model to correct distortion. Based on cross ratio invariability, polynomial equation is established and solved by the least square fitting method. After completing distortion correction, this paper establishes the measurement mathematical model of vision sensor, and determines intrinsic parameters to calibrate. An array of feature points for calibration is built by placing a planar target in any different positions for a few times. An terative optimization method is presented to solve the parameters of model. The experimental results show that the field angle is 52 °, the focus distance is 27.40 mm, image resolution is 5185×5117 pixels, displacement measurement error is less than 0.1mm, and rotation angle measurement error is less than 0.15°. The method of orthogonally splitting imaging pose measurement can satisfy the pose measurement requirement of high precision, fast speed and wide measurement range.

Boneless Pose Editing and Animation

DEFF Research Database (Denmark)

Bærentzen, Jakob Andreas; Hansen, Kristian Evers; Erleben, Kenny

2007-01-01

In this paper, we propose a pose editing and animation method for triangulated surfaces based on a user controlled partitioning of the model into deformable parts and rigid parts which are denoted handles. In our pose editing system, the user can sculpt a set of poses simply by transforming...... the handles for each pose. Using Laplacian editing, the deformable parts are deformed to match the handles. In our animation system the user can constrain one or several handles in order to define a new pose. New poses are interpolated from the examples poses, by solving a small non-linear optimization...... problem in order to obtain the interpolation weights. While the system can be used simply for building poses, it is also an animation system. The user can specify a path for a given constraint and the model is animated correspondingly....

Spontaneous and posed facial expression in Parkinson's disease.

Science.gov (United States)

Smith, M C; Smith, M K; Ellgring, H

1996-09-01

Spontaneous and posed emotional facial expressions in individuals with Parkinson's disease (PD, n = 12) were compared with those of healthy age-matched controls (n = 12). The intensity and amount of facial expression in PD patients were expected to be reduced for spontaneous but not posed expressions. Emotional stimuli were video clips selected from films, 2-5 min in duration, designed to elicit feelings of happiness, sadness, fear, disgust, or anger. Facial movements were coded using Ekman and Friesen's (1978) Facial Action Coding System (FACS). In addition, participants rated their emotional experience on 9-point Likert scales. The PD group showed significantly less overall facial reactivity than did controls when viewing the films. The predicted Group X Condition (spontaneous vs. posed) interaction effect on smile intensity was found when PD participants with more severe disease were compared with those with milder disease and with controls. In contrast, ratings of emotional experience were similar for both groups. Depression was positively associated with emotion rating but not with measures of facial activity. Spontaneous facial expression appears to be selectively affected in PD, whereas posed expression and emotional experience remain relatively intact.

Surface ice flow velocity and tide retrieval of the amery ice shelf using precise point positioning

DEFF Research Database (Denmark)

Zhang, X.H.; Andersen, Ole Baltazar

2006-01-01

Five days of continuous GPS observation data were collected in the frontal zone of the Amery ice shelf and subsequently post-processed using precise point position (PPP) technology based on precise orbit and clock products from the International GNSS service. The surface ice flow velocity of the ...

Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback

Directory of Open Access Journals (Sweden)

Liying Su

2009-01-01

Full Text Available This paper studies the cooperation between two master-slave modular robots. A cooperative robot system is set up with two modular robots and a dynamic optical meter-Optotrak. With Optotrak, the positions of the end effectors are measured as the optical position feedback, which is used to adjust the robots' end positions. A tri-layered motion controller is designed for the two cooperative robots. The RMRC control method is adopted to adjust the master robot to the desired position. With the kinematics constraints of the two robots including position and pose, joint velocity, and acceleration constraints, the two robots can cooperate well. A bolt and nut assembly experiment is executed to verify the methods.

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

Directory of Open Access Journals (Sweden)

Tao Liu

2017-02-01

Full Text Available Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

Self-Management of Patient Body Position, Pose, and Motion Using Wide-Field, Real-Time Optical Measurement Feedback: Results of a Volunteer Study

International Nuclear Information System (INIS)

Parkhurst, James M.; Price, Gareth J.; Sharrock, Phil J.; Jackson, Andrew S.N.; Stratford, Julie; Moore, Christopher J.

2013-01-01

Purpose: We present the results of a clinical feasibility study, performed in 10 healthy volunteers undergoing a simulated treatment over 3 sessions, to investigate the use of a wide-field visual feedback technique intended to help patients control their pose while reducing motion during radiation therapy treatment. Methods and Materials: An optical surface sensor is used to capture wide-area measurements of a subject's body surface with visualizations of these data displayed back to them in real time. In this study we hypothesize that this active feedback mechanism will enable patients to control their motion and help them maintain their setup pose and position. A capability hierarchy of 3 different level-of-detail abstractions of the measured surface data is systematically compared. Results: Use of the device enabled volunteers to increase their conformance to a reference surface, as measured by decreased variability across their body surfaces. The use of visual feedback also enabled volunteers to reduce their respiratory motion amplitude to 1.7 ± 0.6 mm compared with 2.7 ± 1.4 mm without visual feedback. Conclusions: The use of live feedback of their optically measured body surfaces enabled a set of volunteers to better manage their pose and motion when compared with free breathing. The method is suitable to be taken forward to patient studies

Teach it Yourself - Fast Modeling of Industrial Objects for 6D Pose Estimation

DEFF Research Database (Denmark)

Sølund, Thomas; Rajeeth Savarimuthu, Thiusius; Glent Buch, Anders

2015-01-01

In this paper, we present a vision system that allows a human to create new 3D models of novel industrial parts by placing the part in two different positions in the scene. The two shot modeling framework generates models with a precision that allows the model to be used for 6D pose estimation wi....... In addition, the models are applied in a pose estimation application, evaluated with 37 different scenes with 61 unique object poses. The pose estimation results show a mean translation error on 4.97 mm and a mean rotation error on 3.38 degrees....

A Grasp-Pose Generation Method Based on Gaussian Mixture Models

Directory of Open Access Journals (Sweden)

Wenjia Wu

2015-11-01

Full Text Available A Gaussian Mixture Model (GMM-based grasp-pose generation method is proposed in this paper. Through offline training, the GMM is set up and used to depict the distribution of the robot's reachable orientations. By dividing the robot's workspace into small 3D voxels and training the GMM for each voxel, a look-up table covering all the workspace is built with the x, y and z positions as the index and the GMM as the entry. Through the definition of Task Space Regions (TSR, an object's feasible grasp poses are expressed as a continuous region. With the GMM, grasp poses can be preferentially sampled from regions with high reachability probabilities in the online grasp-planning stage. The GMM can also be used as a preliminary judgement of a grasp pose's reachability. Experiments on both a simulated and a real robot show the superiority of our method over the existing method.

The art of problem posing

CERN Document Server

Brown, Stephen I

1990-01-01

Updated and expanded, this second edition satisfies the same philosophical objective as the first -- to show the importance of problem posing. Although interest in mathematical problem solving increased during the past decade, problem posing remained relatively ignored. The Art of Problem Posing draws attention to this equally important act and is the innovator in the field. Special features include: * an exploration ofthe logical relationship between problem posing and problem solving * a special chapter devoted to teaching problem posing as a separate course * sketches, drawings, diagrams, and cartoons that illustrate the schemes proposed * a special section on writing in mathematics.

Online Wavelet Complementary velocity Estimator.

Science.gov (United States)

Righettini, Paolo; Strada, Roberto; KhademOlama, Ehsan; Valilou, Shirin

2018-02-01

In this paper, we have proposed a new online Wavelet Complementary velocity Estimator (WCE) over position and acceleration data gathered from an electro hydraulic servo shaking table. This is a batch estimator type that is based on the wavelet filter banks which extract the high and low resolution of data. The proposed complementary estimator combines these two resolutions of velocities which acquired from numerical differentiation and integration of the position and acceleration sensors by considering a fixed moving horizon window as input to wavelet filter. Because of using wavelet filters, it can be implemented in a parallel procedure. By this method the numerical velocity is estimated without having high noise of differentiators, integration drifting bias and with less delay which is suitable for active vibration control in high precision Mechatronics systems by Direct Velocity Feedback (DVF) methods. This method allows us to make velocity sensors with less mechanically moving parts which makes it suitable for fast miniature structures. We have compared this method with Kalman and Butterworth filters over stability, delay and benchmarked them by their long time velocity integration for getting back the initial position data. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Pose Space Surface Manipulation

Directory of Open Access Journals (Sweden)

Yusuke Yoshiyasu

2012-01-01

Full Text Available Example-based mesh deformation techniques produce natural and realistic shapes by learning the space of deformations from examples. However, skeleton-based methods cannot manipulate a global mesh structure naturally, whereas the mesh-based approaches based on a translational control do not allow the user to edit a local mesh structure intuitively. This paper presents an example-driven mesh editing framework that achieves both global and local pose manipulations. The proposed system is built with a surface deformation method based on a two-step linear optimization technique and achieves direct manipulations of a model surface using translational and rotational controls. With the translational control, the user can create a model in natural poses easily. The rotational control can adjust the local pose intuitively by bending and twisting. We encode example deformations with a rotation-invariant mesh representation which handles large rotations in examples. To incorporate example deformations, we infer a pose from the handle translations/rotations and perform pose space interpolation, thereby avoiding involved nonlinear optimization. With the two-step linear approach combined with the proposed multiresolution deformation method, we can edit models at interactive rates without losing important deformation effects such as muscle bulging.

Well-posed Euler model of shock-induced two-phase flow in bubbly liquid

Science.gov (United States)

Tukhvatullina, R. R.; Frolov, S. M.

2018-03-01

A well-posed mathematical model of non-isothermal two-phase two-velocity flow of bubbly liquid is proposed. The model is based on the two-phase Euler equations with the introduction of an additional pressure at the gas bubble surface, which ensures the well-posedness of the Cauchy problem for a system of governing equations with homogeneous initial conditions, and the Rayleigh-Plesset equation for radial pulsations of gas bubbles. The applicability conditions of the model are formulated. The model is validated by comparing one-dimensional calculations of shock wave propagation in liquids with gas bubbles with a gas volume fraction of 0.005-0.3 with experimental data. The model is shown to provide satisfactory results for the shock propagation velocity, pressure profiles, and the shock-induced motion of the bubbly liquid column.

Statistical Model-Based Face Pose Estimation

Institute of Scientific and Technical Information of China (English)

GE Xinliang; YANG Jie; LI Feng; WANG Huahua

2007-01-01

A robust face pose estimation approach is proposed by using face shape statistical model approach and pose parameters are represented by trigonometric functions. The face shape statistical model is firstly built by analyzing the face shapes from different people under varying poses. The shape alignment is vital in the process of building the statistical model. Then, six trigonometric functions are employed to represent the face pose parameters. Lastly, the mapping function is constructed between face image and face pose by linearly relating different parameters. The proposed approach is able to estimate different face poses using a few face training samples. Experimental results are provided to demonstrate its efficiency and accuracy.

On the measurement of the neutrino velocity applying the standard time of the Global Positioning System

International Nuclear Information System (INIS)

Skeivalas, J; Parseliunas, E

2013-01-01

The measurement of the neutrino velocity applying the standard time of the Global Positioning System (GPS) is presented in the paper. The practical data were taken from the OPERA experiment, in which neutrino emission from the CERN LHC accelerator to Gran Sasso detector was investigated. The distance between accelerator and detector is about 730 km. The time interval was measured by benchmark clocks, which were calibrated by the standard GPS time signals received from GPS satellites. The calculation of the accuracy of the GPS time signals with respect to changes of the signals' frequencies due to the Doppler effect is presented. It is shown that a maximum error of about 200 ns could occur when GPS time signals are applied for the calibration of the clocks for the neutrino velocity measurements. (paper)

Estimation of position and velocity for a low dynamic vehicle in near space using nonresolved photometric and astrometric data.

Science.gov (United States)

Jing, Nan; Li, Chuang; Chong, Yaqin

2017-01-20

An estimation method for indirectly observable parameters for a typical low dynamic vehicle (LDV) is presented. The estimation method utilizes apparent magnitude, azimuth angle, and elevation angle to estimate the position and velocity of a typical LDV, such as a high altitude balloon (HAB). In order to validate the accuracy of the estimated parameters gained from an unscented Kalman filter, two sets of experiments are carried out to obtain the nonresolved photometric and astrometric data. In the experiments, a HAB launch is planned; models of the HAB dynamics and kinematics and observation models are built to use as time update and measurement update functions, respectively. When the HAB is launched, a ground-based optoelectronic detector is used to capture the object images, which are processed using aperture photometry technology to obtain the time-varying apparent magnitude of the HAB. Two sets of actual and estimated parameters are given to clearly indicate the parameter differences. Two sets of errors between the actual and estimated parameters are also given to show how the estimated position and velocity differ with respect to the observation time. The similar distribution curve results from the two scenarios, which agree within 3σ, verify that nonresolved photometric and astrometric data can be used to estimate the indirectly observable state parameters (position and velocity) for a typical LDV. This technique can be applied to small and dim space objects in the future.

Methods for intraoperative, sterile pose-setting of patient-specific microstereotactic frames

Science.gov (United States)

Vollmann, Benjamin; Müller, Samuel; Kundrat, Dennis; Ortmaier, Tobias; Kahrs, Lüder A.

2015-03-01

This work proposes new methods for a microstereotactic frame based on bone cement fixation. Microstereotactic frames are under investigation for minimal invasive temporal bone surgery, e.g. cochlear implantation, or for deep brain stimulation, where products are already on the market. The correct pose of the microstereotactic frame is either adjusted outside or inside the operating room and the frame is used for e.g. drill or electrode guidance. We present a patientspecific, disposable frame that allows intraoperative, sterile pose-setting. Key idea of our approach is bone cement between two plates that cures while the plates are positioned with a mechatronics system in the desired pose. This paper includes new designs of microstereotactic frames, a system for alignment and first measurements to analyze accuracy and applicable load.

Simulating ice thickness and velocity evolution of Upernavik Isstrøm 1849-2012 by forcing prescribed terminus positions in ISSM

Science.gov (United States)

Haubner, Konstanze; Box, Jason E.; Schlegel, Nicole J.; Larour, Eric Y.; Morlighem, Mathieu; Solgaard, Anne M.; Kjeldsen, Kristian K.; Larsen, Signe H.; Rignot, Eric; Dupont, Todd K.; Kjær, Kurt H.

2018-04-01

Tidewater glacier velocity and mass balance are known to be highly responsive to terminus position change. Yet it remains challenging for ice flow models to reproduce observed ice margin changes. Here, using the Ice Sheet System Model (ISSM; Larour et al. 2012), we simulate the ice velocity and thickness changes of Upernavik Isstrøm (north-western Greenland) by prescribing a collection of 27 observed terminus positions spanning 164 years (1849-2012). The simulation shows increased ice velocity during the 1930s, the late 1970s and between 1995 and 2012 when terminus retreat was observed along with negative surface mass balance anomalies. Three distinct mass balance states are evident in the reconstruction: (1849-1932) with near zero mass balance, (1932-1992) with ice mass loss dominated by ice dynamical flow, and (1998-2012), when increased retreat and negative surface mass balance anomalies led to mass loss that was twice that of any earlier period. Over the multi-decadal simulation, mass loss was dominated by thinning and acceleration responsible for 70 % of the total mass loss induced by prescribed change in terminus position. The remaining 30 % of the total ice mass loss resulted directly from prescribed terminus retreat and decreasing surface mass balance. Although the method can not explain the cause of glacier retreat, it enables the reconstruction of ice flow and geometry during 1849-2012. Given annual or seasonal observed terminus front positions, this method could be a useful tool for evaluating simulations investigating the effect of calving laws.

Stereovision-based pose and inertia estimation of unknown and uncooperative space objects

Science.gov (United States)

Pesce, Vincenzo; Lavagna, Michèle; Bevilacqua, Riccardo

2017-01-01

Autonomous close proximity operations are an arduous and attractive problem in space mission design. In particular, the estimation of pose, motion and inertia properties of an uncooperative object is a challenging task because of the lack of available a priori information. This paper develops a novel method to estimate the relative position, velocity, angular velocity, attitude and the ratios of the components of the inertia matrix of an uncooperative space object using only stereo-vision measurements. The classical Extended Kalman Filter (EKF) and an Iterated Extended Kalman Filter (IEKF) are used and compared for the estimation procedure. In addition, in order to compute the inertia properties, the ratios of the inertia components are added to the state and a pseudo-measurement equation is considered in the observation model. The relative simplicity of the proposed algorithm could be suitable for an online implementation for real applications. The developed algorithm is validated by numerical simulations in MATLAB using different initial conditions and uncertainty levels. The goal of the simulations is to verify the accuracy and robustness of the proposed estimation algorithm. The obtained results show satisfactory convergence of estimation errors for all the considered quantities. The obtained results, in several simulations, shows some improvements with respect to similar works, which deal with the same problem, present in literature. In addition, a video processing procedure is presented to reconstruct the geometrical properties of a body using cameras. This inertia reconstruction algorithm has been experimentally validated at the ADAMUS (ADvanced Autonomous MUltiple Spacecraft) Lab at the University of Florida. In the future, this different method could be integrated to the inertia ratios estimator to have a complete tool for mass properties recognition.

Seasonal and inter-annual variability in velocity and frontal position of Siachen Glacier (Eastern Karakorum) using multi-satellite data

Science.gov (United States)

Usman, M.; Furuya, M.; Sakakibara, D.; Abe, T.

2017-12-01

The anomalous behavior of Karakorum glaciers is a hot topic of discussion in the scientific community. Siachen Glacier is one of the longest glaciers ( 75km) in Karakorum Range. This glacier is supposed to be a surge type but so far no studies have confirmed this claim. Detailed velocity mapping of this glacier can possibly provide some clues about intra/inter-annual changes in velocity and observed terminus. Using L-band SAR data of ALOS-1/2, we applied the feature tracking technique (search patch of 128x128 pixels (range x azimuth) , sampling interval of 12x36 pixels) to derive velocity changes; we used GAMMA software. The velocity was calculated by following the parallel flow assumption. To calculate the local topographic gradient unit vector, we used ASTER-GDEM. We also used optical images acquired by Landsat 5 Thematic Mapper (TM), the Landsat 7 Enhanced Thematic Mapper Plus (ETM+) to derive surface velocity. The algorithm we used is Cross-Correlation in Frequency domain on Orientation images (CCF-O). The velocity was finally calculated by setting a flow line and averaging over the area of 200x200m2. The results indicate seasonal speed up signals that modulate inter-annually from 1999 to 2011, with slight or no change in the observed frontal position. However, in ALOS-2 data, the `observed terminus' seems to have been advancing.

Pengenalan Pose Tangan Menggunakan HuMoment

Directory of Open Access Journals (Sweden)

Dina Budhi Utami

2017-02-01

Full Text Available Computer vision yang didasarkan pada pengenalan bentuk memiliki banyak potensi dalam interaksi manusia dan komputer. Pose tangan dapat dijadikan simbol interaksi manusia dengan komputer seperti halnya pada penggunaan berbagai pose tangan pada bahasa isyarat. Berbagai pose tangan dapat digunakan untuk menggantikan fungsi mouse, untuk mengendalikan robot, dan sebagainya. Penelitian ini difokuskan pada pembangunan sistem pengenalan pose tangan menggunakan HuMoment. Proses pengenalan pose tangan dimulai dengan melakukan segmentasi citra masukan untuk menghasilkan citra ROI (Region of Interest yaitu area telapak tangan. Selanjutnya dilakukan proses deteksi tepi. Kemudian dilakukan ekstraksi nilai HuMoment. Nilai HuMoment dikuantisasikan ke dalam bukukode yang dihasilkan dari proses pelatihan menggunakan K-Means. Proses kuantisasi dilakukan dengan menghitung nilai Euclidean Distance terkecil antara nilai HuMomment citra masukan dan bukukode. Berdasarkan hasil penelitian, nilai akurasi sistem dalam mengenali pose tangan adalah 88.57%.

A new benchmark for pose estimation with ground truth from virtual reality

DEFF Research Database (Denmark)

Schlette, Christian; Buch, Anders Glent; Aksoy, Eren Erdal

2014-01-01

The development of programming paradigms for industrial assembly currently gets fresh impetus from approaches in human demonstration and programming-by-demonstration. Major low- and mid-level prerequisites for machine vision and learning in these intelligent robotic applications are pose estimation......, stereo reconstruction and action recognition. As a basis for the machine vision and learning involved, pose estimation is used for deriving object positions and orientations and thus target frames for robot execution. Our contribution introduces and applies a novel benchmark for typical multi...

Particle Filter Based Fault-tolerant ROV Navigation using Hydro-acoustic Position and Doppler Velocity Measurements

DEFF Research Database (Denmark)

Zhao, Bo; Blanke, Mogens; Skjetne, Roger

2012-01-01

This paper presents a fault tolerant navigation system for a remotely operated vehicle (ROV). The navigation system uses hydro-acoustic position reference (HPR) and Doppler velocity log (DVL) measurements to achieve an integrated navigation. The fault tolerant functionality is based on a modied...... particle lter. This particle lter is able to run in an asynchronous manner to accommodate the measurement drop out problem, and it overcomes the measurement outliers by switching observation models. Simulations with experimental data show that this fault tolerant navigation system can accurately estimate...

Sodium Velocity Maps on Mercury

Science.gov (United States)

Potter, A. E.; Killen, R. M.

2011-01-01

The objective of the current work was to measure two-dimensional maps of sodium velocities on the Mercury surface and examine the maps for evidence of sources or sinks of sodium on the surface. The McMath-Pierce Solar Telescope and the Stellar Spectrograph were used to measure Mercury spectra that were sampled at 7 milliAngstrom intervals. Observations were made each day during the period October 5-9, 2010. The dawn terminator was in view during that time. The velocity shift of the centroid of the Mercury emission line was measured relative to the solar sodium Fraunhofer line corrected for radial velocity of the Earth. The difference between the observed and calculated velocity shift was taken to be the velocity vector of the sodium relative to Earth. For each position of the spectrograph slit, a line of velocities across the planet was measured. Then, the spectrograph slit was stepped over the surface of Mercury at 1 arc second intervals. The position of Mercury was stabilized by an adaptive optics system. The collection of lines were assembled into an images of surface reflection, sodium emission intensities, and Earthward velocities over the surface of Mercury. The velocity map shows patches of higher velocity in the southern hemisphere, suggesting the existence of sodium sources there. The peak earthward velocity occurs in the equatorial region, and extends to the terminator. Since this was a dawn terminator, this might be an indication of dawn evaporation of sodium. Leblanc et al. (2008) have published a velocity map that is similar.

Gaussian particle filter based pose and motion estimation

Institute of Scientific and Technical Information of China (English)

无

2007-01-01

Determination of relative three-dimensional (3D) position, orientation, and relative motion between two reference frames is an important problem in robotic guidance, manipulation, and assembly as well as in other fields such as photogrammetry.A solution to pose and motion estimation problem that uses two-dimensional (2D) intensity images from a single camera is desirable for real-time applications. The difficulty in performing this measurement is that the process of projecting 3D object features to 2D images is a nonlinear transformation. In this paper, the 3D transformation is modeled as a nonlinear stochastic system with the state estimation providing six degrees-of-freedom motion and position values, using line features in image plane as measuring inputs and dual quaternion to represent both rotation and translation in a unified notation. A filtering method called the Gaussian particle filter (GPF) based on the particle filtering concept is presented for 3D pose and motion estimation of a moving target from monocular image sequences. The method has been implemented with simulated data, and simulation results are provided along with comparisons to the extended Kalman filter (EKF) and the unscented Kalman filter (UKF) to show the relative advantages of the GPF. Simulation results showed that GPF is a superior alternative to EKF and UKF.

A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration.

Directory of Open Access Journals (Sweden)

Pengfei Sun

Full Text Available Pose estimation aims at measuring the position and orientation of a calibrated camera using known image features. The pinhole model is the dominant camera model in this field. However, the imaging precision of this model is not accurate enough for an advanced pose estimation algorithm. In this paper, a new camera model, called incident ray tracking model, is introduced. More importantly, an advanced pose estimation algorithm based on the perspective ray in the new camera model, is proposed. The perspective ray, determined by two positioning points, is an abstract mathematical equivalent of the incident ray. In the proposed pose estimation algorithm, called perspective-ray-based scaled orthographic projection with iteration (PRSOI, an approximate ray-based projection is calculated by a linear system and refined by iteration. Experiments on the PRSOI have been conducted, and the results demonstrate that it is of high accuracy in the six degrees of freedom (DOF motion. And it outperforms three other state-of-the-art algorithms in terms of accuracy during the contrast experiment.

Adaptive relative pose control of spacecraft with model couplings and uncertainties

Science.gov (United States)

Sun, Liang; Zheng, Zewei

2018-02-01

The spacecraft pose tracking control problem for an uncertain pursuer approaching to a space target is researched in this paper. After modeling the nonlinearly coupled dynamics for relative translational and rotational motions between two spacecraft, position tracking and attitude synchronization controllers are developed independently by using a robust adaptive control approach. The unknown kinematic couplings, parametric uncertainties, and bounded external disturbances are handled with adaptive updating laws. It is proved via Lyapunov method that the pose tracking errors converge to zero asymptotically. Spacecraft close-range rendezvous and proximity operations are introduced as an example to validate the effectiveness of the proposed control approach.

Laser Remediation of Threats Posed by Small Orbital Debris

Science.gov (United States)

Fork, Richard L.; Rogers, Jan R.; Hovater, Mary A.

2012-01-01

The continually increasing amount of orbital debris in near Earth space poses an increasing challenge to space situational awareness. Recent collisions of spacecraft caused abrupt increases in the density of both large and small debris in near Earth space. An especially challenging class of threats is that due to the increasing density of small (1 mm to 10 cm dimension) orbital debris. This small debris poses a serious threat since: (1) The high velocity enables even millimeter dimension debris to cause serious damage to vulnerable areas of space assets, e.g., detector windows; (2) The small size and large number of debris elements prevent adequate detection and cataloguing. We have identified solutions to this threat in the form of novel laser systems and novel ways of using these laser systems. While implementation of the solutions we identify is challenging we find approaches offering threat mitigation within time frames and at costs of practical interest. We base our analysis on the unique combination of coherent light specifically structured in both space and time and applied in novel ways entirely within the vacuum of space to deorbiting small debris. We compare and contrast laser based small debris removal strategies using ground based laser systems with strategies using space based laser systems. We find laser systems located and used entirely within space offer essential and decisive advantages over groundbased laser systems.

Influence of Velocity on Variability in Gait Kinematics

DEFF Research Database (Denmark)

Yang, Sylvia X M; Larsen, Peter K; Alkjær, Tine

2014-01-01

the concurrence of joint angles throughout a gait cycle at three different velocities (3.0, 4.5, 6.0 km/h). Six datasets at each velocity were collected from 16 men. A variability range VR throughout the gait cycle at each velocity for each joint angle for each person was calculated. The joint angles at each...... velocity were compared pairwise, and whenever this showed values within the VR of this velocity, the case was positive. By adding the positives throughout the gait cycle, phases with high and low concurrences were located; peak concurrence was observed at mid-stance phase. Striving for the same velocity...

An Inertial and Optical Sensor Fusion Approach for Six Degree-of-Freedom Pose Estimation

Science.gov (United States)

He, Changyu; Kazanzides, Peter; Sen, Hasan Tutkun; Kim, Sungmin; Liu, Yue

2015-01-01

Optical tracking provides relatively high accuracy over a large workspace but requires line-of-sight between the camera and the markers, which may be difficult to maintain in actual applications. In contrast, inertial sensing does not require line-of-sight but is subject to drift, which may cause large cumulative errors, especially during the measurement of position. To handle cases where some or all of the markers are occluded, this paper proposes an inertial and optical sensor fusion approach in which the bias of the inertial sensors is estimated when the optical tracker provides full six degree-of-freedom (6-DOF) pose information. As long as the position of at least one marker can be tracked by the optical system, the 3-DOF position can be combined with the orientation estimated from the inertial measurements to recover the full 6-DOF pose information. When all the markers are occluded, the position tracking relies on the inertial sensors that are bias-corrected by the optical tracking system. Experiments are performed with an augmented reality head-mounted display (ARHMD) that integrates an optical tracking system (OTS) and inertial measurement unit (IMU). Experimental results show that under partial occlusion conditions, the root mean square errors (RMSE) of orientation and position are 0.04° and 0.134 mm, and under total occlusion conditions for 1 s, the orientation and position RMSE are 0.022° and 0.22 mm, respectively. Thus, the proposed sensor fusion approach can provide reliable 6-DOF pose under long-term partial occlusion and short-term total occlusion conditions. PMID:26184191

Problem posing reflections and applications

CERN Document Server

Brown, Stephen I

2014-01-01

As a result of the editors' collaborative teaching at Harvard in the late 1960s, they produced a ground-breaking work -- The Art Of Problem Posing -- which related problem posing strategies to the already popular activity of problem solving. It took the concept of problem posing and created strategies for engaging in that activity as a central theme in mathematics education. Based in part upon that work and also upon a number of articles by its authors, other members of the mathematics education community began to apply and expand upon their ideas. This collection of thirty readings is a tes

A pose estimation method for unmanned ground vehicles in GPS denied environments

Science.gov (United States)

Tamjidi, Amirhossein; Ye, Cang

2012-06-01

This paper presents a pose estimation method based on the 1-Point RANSAC EKF (Extended Kalman Filter) framework. The method fuses the depth data from a LIDAR and the visual data from a monocular camera to estimate the pose of a Unmanned Ground Vehicle (UGV) in a GPS denied environment. Its estimation framework continuy updates the vehicle's 6D pose state and temporary estimates of the extracted visual features' 3D positions. In contrast to the conventional EKF-SLAM (Simultaneous Localization And Mapping) frameworks, the proposed method discards feature estimates from the extended state vector once they are no longer observed for several steps. As a result, the extended state vector always maintains a reasonable size that is suitable for online calculation. The fusion of laser and visual data is performed both in the feature initialization part of the EKF-SLAM process and in the motion prediction stage. A RANSAC pose calculation procedure is devised to produce pose estimate for the motion model. The proposed method has been successfully tested on the Ford campus's LIDAR-Vision dataset. The results are compared with the ground truth data of the dataset and the estimation error is ~1.9% of the path length.

Human action recognition based on estimated weak poses

Science.gov (United States)

Gong, Wenjuan; Gonzàlez, Jordi; Roca, Francesc Xavier

2012-12-01

We present a novel method for human action recognition (HAR) based on estimated poses from image sequences. We use 3D human pose data as additional information and propose a compact human pose representation, called a weak pose, in a low-dimensional space while still keeping the most discriminative information for a given pose. With predicted poses from image features, we map the problem from image feature space to pose space, where a Bag of Poses (BOP) model is learned for the final goal of HAR. The BOP model is a modified version of the classical bag of words pipeline by building the vocabulary based on the most representative weak poses for a given action. Compared with the standard k-means clustering, our vocabulary selection criteria is proven to be more efficient and robust against the inherent challenges of action recognition. Moreover, since for action recognition the ordering of the poses is discriminative, the BOP model incorporates temporal information: in essence, groups of consecutive poses are considered together when computing the vocabulary and assignment. We tested our method on two well-known datasets: HumanEva and IXMAS, to demonstrate that weak poses aid to improve action recognition accuracies. The proposed method is scene-independent and is comparable with the state-of-art method.

Pose tracking for augmented reality applications in outdoor archaeological sites

Science.gov (United States)

Younes, Georges; Asmar, Daniel; Elhajj, Imad; Al-Harithy, Howayda

2017-01-01

In recent years, agencies around the world have invested huge amounts of effort toward digitizing many aspects of the world's cultural heritage. Of particular importance is the digitization of outdoor archaeological sites. In the spirit of valorization of this digital information, many groups have developed virtual or augmented reality (AR) computer applications themed around a particular archaeological object. The problem of pose tracking in outdoor AR applications is addressed. Different positional systems are analyzed, resulting in the selection of a monocular camera-based user tracker. The limitations that challenge this technique from map generation, scale, anchoring, to lighting conditions are analyzed and systematically addressed. Finally, as a case study, our pose tracking system is implemented within an AR experience in the Byblos Roman theater in Lebanon.

Online absolute pose compensation and steering control of industrial robot based on six degrees of freedom laser measurement

Science.gov (United States)

Yang, Juqing; Wang, Dayong; Fan, Baixing; Dong, Dengfeng; Zhou, Weihu

2017-03-01

In-situ intelligent manufacturing for large-volume equipment requires industrial robots with absolute high-accuracy positioning and orientation steering control. Conventional robots mainly employ an offline calibration technology to identify and compensate key robotic parameters. However, the dynamic and static parameters of a robot change nonlinearly. It is not possible to acquire a robot's actual parameters and control the absolute pose of the robot with a high accuracy within a large workspace by offline calibration in real-time. This study proposes a real-time online absolute pose steering control method for an industrial robot based on six degrees of freedom laser tracking measurement, which adopts comprehensive compensation and correction of differential movement variables. First, the pose steering control system and robot kinematics error model are constructed, and then the pose error compensation mechanism and algorithm are introduced in detail. By accurately achieving the position and orientation of the robot end-tool, mapping the computed Jacobian matrix of the joint variable and correcting the joint variable, the real-time online absolute pose compensation for an industrial robot is accurately implemented in simulations and experimental tests. The average positioning error is 0.048 mm and orientation accuracy is better than 0.01 deg. The results demonstrate that the proposed method is feasible, and the online absolute accuracy of a robot is sufficiently enhanced.

Multi-task pose-invariant face recognition.

Science.gov (United States)

Ding, Changxing; Xu, Chang; Tao, Dacheng

2015-03-01

Face images captured in unconstrained environments usually contain significant pose variation, which dramatically degrades the performance of algorithms designed to recognize frontal faces. This paper proposes a novel face identification framework capable of handling the full range of pose variations within ±90° of yaw. The proposed framework first transforms the original pose-invariant face recognition problem into a partial frontal face recognition problem. A robust patch-based face representation scheme is then developed to represent the synthesized partial frontal faces. For each patch, a transformation dictionary is learnt under the proposed multi-task learning scheme. The transformation dictionary transforms the features of different poses into a discriminative subspace. Finally, face matching is performed at patch level rather than at the holistic level. Extensive and systematic experimentation on FERET, CMU-PIE, and Multi-PIE databases shows that the proposed method consistently outperforms single-task-based baselines as well as state-of-the-art methods for the pose problem. We further extend the proposed algorithm for the unconstrained face verification problem and achieve top-level performance on the challenging LFW data set.

Exemplar-based human action pose correction.

Science.gov (United States)

Shen, Wei; Deng, Ke; Bai, Xiang; Leyvand, Tommer; Guo, Baining; Tu, Zhuowen

2014-07-01

The launch of Xbox Kinect has built a very successful computer vision product and made a big impact on the gaming industry. This sheds lights onto a wide variety of potential applications related to action recognition. The accurate estimation of human poses from the depth image is universally a critical step. However, existing pose estimation systems exhibit failures when facing severe occlusion. In this paper, we propose an exemplar-based method to learn to correct the initially estimated poses. We learn an inhomogeneous systematic bias by leveraging the exemplar information within a specific human action domain. Furthermore, as an extension, we learn a conditional model by incorporation of pose tags to further increase the accuracy of pose correction. In the experiments, significant improvements on both joint-based skeleton correction and tag prediction are observed over the contemporary approaches, including what is delivered by the current Kinect system. Our experiments for the facial landmark correction also illustrate that our algorithm can improve the accuracy of other detection/estimation systems.

An anti-disturbing real time pose estimation method and system

Science.gov (United States)

Zhou, Jian; Zhang, Xiao-hu

2011-08-01

method can estimate pose between camera and object when part even all known features are lost, and has a quick response time benefit from GPU parallel computing. The method present here can be used widely in vision-guide techniques to strengthen its intelligence and generalization, which can also play an important role in autonomous navigation and positioning, robots fields at unknown environment. The results of simulation and experiments demonstrate that proposed method could suppress noise effectively, extracted features robustly, and achieve the real time need. Theory analysis and experiment shows the method is reasonable and efficient.

The role of ECoG magnitude and phase in decoding position, velocity and acceleration during continuous motor behavior

Directory of Open Access Journals (Sweden)

Jiri eHammer

2013-11-01

Full Text Available In neuronal population signals, including the electroencephalogram (EEG and electrocorticogram (ECoG, the low-frequency component (LFC is particularly informative about motor behavior and can be used for decoding movement parameters for brain-machine interface (BMI applications. An idea previously expressed, but as of yet not quantitatively tested, is that it is the LFC phase that is the main source of decodable information. To test this issue, we analyzed human ECoG recorded during a game-like, one-dimensional, continuous motor task with a novel decoding method suitable for unfolding magnitude and phase explicitly into a complex-valued, time-frequency signal representation, enabling quantification of the decodable information within the temporal, spatial and frequency domains and allowing disambiguation of the phase contribution from that of the spectral magnitude. The decoding accuracy based only on phase information was substantially (at least 2 fold and significantly higher than that based only on magnitudes for position, velocity and acceleration. The frequency profile of movement-related information in the ECoG data matched well with the frequency profile expected when assuming a close time-domain correlate of movement velocity in the ECoG, e.g., a (noisy copy of hand velocity. No such match was observed with the frequency profiles expected when assuming a copy of either hand position or acceleration. There was also no indication of additional magnitude-based mechanisms encoding movement information in the LFC range. Thus, our study contributes to elucidating the nature of the informative low-frequency component of motor cortical population activity and may hence contribute to improve decoding strategies and BMI performance.

Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure

Directory of Open Access Journals (Sweden)

Jingzhou Song

2015-01-01

Full Text Available Aiming at the recognition and location of noncooperative spacecraft, this paper presents a monocular vision pose measurement method based on solar triangle structure. First of all, an autonomous recognition algorithm of feature structure based on sliding window Hough transformation (SWHT and inscribed circle of a triangle is proposed, and the image coordinates of feature points on the triangle can be obtained relying on this algorithm, combined with the P4P algorithm and the structure of spacecraft, calculating the relative pose of target expressed by rotation and translation matrix. The whole algorithm can be loaded into the prewritten onboard program, which will get the autocomplete feature structure extraction and relative pose measurement without human intervention, and this method does not need to mount any markers on the target. Then compare the measured values with the accurate value of the laser tracker, so that a conclusion can be drawn that the maximum position error is lower than 5% and the rotation error is lower than 4%, which meets the requirements of noncooperative spacecraft’s pose measurement for observations, tracking, and docking in the final rendezvous phase.

Yoga Poses Increase Subjective Energy and State Self-Esteem in Comparison to ‘Power Poses’

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Agnieszka Golec de Zavala

2017-05-01

Full Text Available Research on beneficial consequences of yoga focuses on the effects of yogic breathing and meditation. Less is known about the psychological effects of performing yoga postures. The present study investigated the effects of yoga poses on subjective sense of energy and self-esteem. The effects of yoga postures were compared to the effects of ‘power poses,’ which arguably increase the sense of power and self-confidence due to their association with interpersonal dominance (Carney et al., 2010. The study tested the novel prediction that yoga poses, which are not associated with interpersonal dominance but increase bodily energy, would increase the subjective feeling of energy and therefore increase self-esteem compared to ‘high power’ and ‘low power’ poses. A two factorial, between participants design was employed. Participants performed either two standing yoga poses with open front of the body (n = 19, two standing yoga poses with covered front of the body (n = 22, two expansive, high power poses (n = 21, or two constrictive, low power poses (n = 20 for 1-min each. The results showed that yoga poses in comparison to ‘power poses’ increased self-esteem. This effect was mediated by an increased subjective sense of energy and was observed when baseline trait self-esteem was controlled for. These results suggest that the effects of performing open, expansive body postures may be driven by processes other than the poses’ association with interpersonal power and dominance. This study demonstrates that positive effects of yoga practice can occur after performing yoga poses for only 2 min.

Mining Key Skeleton Poses with Latent SVM for Action Recognition

Directory of Open Access Journals (Sweden)

Xiaoqiang Li

2017-01-01

Full Text Available Human action recognition based on 3D skeleton has become an active research field in recent years with the recently developed commodity depth sensors. Most published methods analyze an entire 3D depth data, construct mid-level part representations, or use trajectory descriptor of spatial-temporal interest point for recognizing human activities. Unlike previous work, a novel and simple action representation is proposed in this paper which models the action as a sequence of inconsecutive and discriminative skeleton poses, named as key skeleton poses. The pairwise relative positions of skeleton joints are used as feature of the skeleton poses which are mined with the aid of the latent support vector machine (latent SVM. The advantage of our method is resisting against intraclass variation such as noise and large nonlinear temporal deformation of human action. We evaluate the proposed approach on three benchmark action datasets captured by Kinect devices: MSR Action 3D dataset, UTKinect Action dataset, and Florence 3D Action dataset. The detailed experimental results demonstrate that the proposed approach achieves superior performance to the state-of-the-art skeleton-based action recognition methods.

Pose Estimation with a Kinect for Ergonomic Studies: Evaluation of the Accuracy Using a Virtual Mannequin

Directory of Open Access Journals (Sweden)

Pierre Plantard

2015-01-01

Full Text Available Analyzing human poses with a Kinect is a promising method to evaluate potentials risks of musculoskeletal disorders at workstations. In ecological situations, complex 3D poses and constraints imposed by the environment make it difficult to obtain reliable kinematic information. Thus, being able to predict the potential accuracy of the measurement for such complex 3D poses and sensor placements is challenging in classical experimental setups. To tackle this problem, we propose a new evaluation method based on a virtual mannequin. In this study, we apply this method to the evaluation of joint positions (shoulder, elbow, and wrist, joint angles (shoulder and elbow, and the corresponding RULA (a popular ergonomics assessment grid upper-limb score for a large set of poses and sensor placements. Thanks to this evaluation method, more than 500,000 configurations have been automatically tested, which would be almost impossible to evaluate with classical protocols. The results show that the kinematic information obtained by the Kinect software is generally accurate enough to fill in ergonomic assessment grids. However inaccuracy strongly increases for some specific poses and sensor positions. Using this evaluation method enabled us to report configurations that could lead to these high inaccuracies. As a supplementary material, we provide a software tool to help designers to evaluate the expected accuracy of this sensor for a set of upper-limb configurations. Results obtained with the virtual mannequin are in accordance with those obtained from a real subject for a limited set of poses and sensor placements.

A deep learning approach for pose estimation from volumetric OCT data.

Science.gov (United States)

Gessert, Nils; Schlüter, Matthias; Schlaefer, Alexander

2018-05-01

Tracking the pose of instruments is a central problem in image-guided surgery. For microscopic scenarios, optical coherence tomography (OCT) is increasingly used as an imaging modality. OCT is suitable for accurate pose estimation due to its micrometer range resolution and volumetric field of view. However, OCT image processing is challenging due to speckle noise and reflection artifacts in addition to the images' 3D nature. We address pose estimation from OCT volume data with a new deep learning-based tracking framework. For this purpose, we design a new 3D convolutional neural network (CNN) architecture to directly predict the 6D pose of a small marker geometry from OCT volumes. We use a hexapod robot to automatically acquire labeled data points which we use to train 3D CNN architectures for multi-output regression. We use this setup to provide an in-depth analysis on deep learning-based pose estimation from volumes. Specifically, we demonstrate that exploiting volume information for pose estimation yields higher accuracy than relying on 2D representations with depth information. Supporting this observation, we provide quantitative and qualitative results that 3D CNNs effectively exploit the depth structure of marker objects. Regarding the deep learning aspect, we present efficient design principles for 3D CNNs, making use of insights from the 2D deep learning community. In particular, we present Inception3D as a new architecture which performs best for our application. We show that our deep learning approach reaches errors at our ground-truth label's resolution. We achieve a mean average error of 14.89 ± 9.3 µm and 0.096 ± 0.072° for position and orientation learning, respectively. Copyright © 2018 Elsevier B.V. All rights reserved.

Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications.

Science.gov (United States)

Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

2016-09-14

Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.

Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications

Science.gov (United States)

Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

2016-01-01

Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments. PMID:27649178

Students’ Creativity: Problem Posing in Structured Situation

Science.gov (United States)

Amalina, I. K.; Amirudin, M.; Budiarto, M. T.

2018-01-01

This is a qualitative research concerning on students’ creativity on problem posing task. The study aimed at describing the students’ creative thinking ability to pose the mathematics problem in structured situations with varied condition of given problems. In order to find out the students’ creative thinking ability, an analysis of mathematics problem posing test based on fluency, novelty, and flexibility and interview was applied for categorizing students’ responses on that task. The data analysis used the quality of problem posing and categorized in 4 level of creativity. The results revealed from 29 secondary students grade 8, a student in CTL (Creative Thinking Level) 1 met the fluency. A student in CTL 2 met the novelty, while a student in CTL 3 met both fluency and novelty and no one in CTL 4. These results are affected by students’ mathematical experience. The findings of this study highlight that student’s problem posing creativity are dependent on their experience in mathematics learning and from the point of view of which students start to pose problem.

IMU-based Real-time Pose Measurement system for Anterior Pelvic Plane in Total Hip Replacement Surgeries.

Science.gov (United States)

Zhe Cao; Shaojie Su; Hao Tang; Yixin Zhou; Zhihua Wang; Hong Chen

2017-07-01

With the aging of population, the number of Total Hip Replacement Surgeries (THR) increased year by year. In THR, inaccurate position of the implanted prosthesis may lead to the failure of the operation. In order to reduce the failure rate and acquire the real-time pose of Anterior Pelvic Plane (APP), we propose a measurement system in this paper. The measurement system includes two parts: Initial Pose Measurement Instrument (IPMI) and Real-time Pose Measurement Instrument (RPMI). IPMI is used to acquire the initial pose of the APP, and RPMI is used to estimate the real-time pose of the APP. Both are composed of an Inertial Measurement Unit (IMU) and magnetometer sensors. To estimate the attitude of the measurement system, the Extended Kalman Filter (EKF) is adopted in this paper. The real-time pose of the APP could be acquired together with the algorithm designed in the paper. The experiment results show that the Root Mean Square Error (RMSE) is within 1.6 degrees, which meets the requirement of THR operations.

Pose Tracking Algorithm of an Endoscopic Surgery Robot Wrist

International Nuclear Information System (INIS)

Wang, L; Yin, H L; Meng, Q

2006-01-01

In recent two decades, more and more research on the endoscopic surgery has been carried out [2]. Most of the work focuses on the development of the robot in the field of robotics and the navigation of the surgery tools based on computer graphics. But the tracking and locating of the EndoWrist is also a very important aspect. This paper deals with the the tracking algorithm of the EndoWrist's pose (position and orientation). The linear tracking of the position is handled by the Kalman Filter. The quaternion-based nonlinear orientation tracking is implemented with the Extended Kalman Filter. The most innovative point of this paper is the parameterization of the motion model of the Extended Kalman Filter

A review of cooperative and uncooperative spacecraft pose determination techniques for close-proximity operations

Science.gov (United States)

Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

2017-08-01

The capability of an active spacecraft to accurately estimate its relative position and attitude (pose) with respect to an active/inactive, artificial/natural space object (target) orbiting in close-proximity is required to carry out various activities like formation flying, on-orbit servicing, active debris removal, and space exploration. According to the specific mission scenario, the pose determination task involves both theoretical and technological challenges related to the search for the most suitable algorithmic solution and sensor architecture, respectively. As regards the latter aspect, electro-optical sensors represent the best option as their use is compatible with mass and power limitation of micro and small satellites, and their measurements can be processed to estimate all the pose parameters. Overall, the degree of complexity of the challenges related to pose determination largely varies depending on the nature of the targets, which may be actively/passively cooperative, uncooperative but known, or uncooperative and unknown space objects. In this respect, while cooperative pose determination has been successfully demonstrated in orbit, the uncooperative case is still under study by universities, research centers, space agencies and private companies. However, in both the cases, the demand for space applications involving relative navigation maneuvers, also in close-proximity, for which pose determination capabilities are mandatory, is significantly increasing. In this framework, a review of state-of-the-art techniques and algorithms developed in the last decades for cooperative and uncooperative pose determination by processing data provided by electro-optical sensors is herein presented. Specifically, their main advantages and drawbacks in terms of achieved performance, computational complexity, and sensitivity to variability of pose and target geometry, are highlighted.

A Comparison of Iterative 2D-3D Pose Estimation Methods for Real-Time Applications

DEFF Research Database (Denmark)

Grest, Daniel; Krüger, Volker; Petersen, Thomas

2009-01-01

This work compares iterative 2D-3D Pose Estimation methods for use in real-time applications. The compared methods are available for public as C++ code. One method is part of the openCV library, namely POSIT. Because POSIT is not applicable for planar 3Dpoint congurations, we include the planar P...

Middle cerebral artery blood flow velocity during beach chair position for shoulder surgery under general anesthesia.

Science.gov (United States)

Hanouz, Jean-Luc; Fiant, Anne-Lise; Gérard, Jean-Louis

2016-09-01

The goal of the present study was to examine changes of middle cerebral artery (VMCA) blood flow velocity in patients scheduled for shoulder surgery in beach chair position. Prospective observational study. Operating room, shoulder surgery. Fifty-three consecutive patients scheduled for shoulder surgery in beach chair position. Transcranial Doppler performed after induction of general anesthesia (baseline), after beach chair positioning (BC1), during surgery 20minutes (BC2), and after back to supine position before stopping anesthesia (supine). Mean arterial pressure (MAP), end-tidal CO2, and volatile anesthetic concentration and VMCA were recorded at baseline, BC1, BC2, and supine. Postoperative neurologic complications were searched. Beach chair position induced decrease in MAP (baseline: 73±10mm Hg vs lower MAP recorded: 61±10mm Hg; P<.0001) requiring vasopressors and fluid challenge in 44 patients (83%). There was a significant decrease in VMCA after beach chair positioning (BC1: 33±10cm/s vs baseline: 39±14cm/s; P=.001). The VMCA at baseline (39±2cm/s), BC2 (35±14cm/s), and supine (39±14cm/s) were not different. The minimal alveolar concentration of volatile anesthetics, end-tidal CO2, SpO2, and MAP were not different at baseline, BC1, BC2, and supine. Beach chair position resulted in transient decrease in MAP requiring fluid challenge and vasopressors and a moderate decrease in VMCA. Copyright © 2016 Elsevier Inc. All rights reserved.

Estimation of blood velocities using ultrasound

DEFF Research Database (Denmark)

Jensen, Jørgen Arendt

imaging, and, finally, some of the more recent experimental techniques. The authors shows that the Doppler shift, usually considered the way velocity is detected, actually, plays a minor role in pulsed systems. Rather, it is the shift of position of signals between pulses that is used in velocity...

Handheld pose tracking using vision-inertial sensors with occlusion handling

Science.gov (United States)

Li, Juan; Slembrouck, Maarten; Deboeverie, Francis; Bernardos, Ana M.; Besada, Juan A.; Veelaert, Peter; Aghajan, Hamid; Casar, José R.; Philips, Wilfried

2016-07-01

Tracking of a handheld device's three-dimensional (3-D) position and orientation is fundamental to various application domains, including augmented reality (AR), virtual reality, and interaction in smart spaces. Existing systems still offer limited performance in terms of accuracy, robustness, computational cost, and ease of deployment. We present a low-cost, accurate, and robust system for handheld pose tracking using fused vision and inertial data. The integration of measurements from embedded accelerometers reduces the number of unknown parameters in the six-degree-of-freedom pose calculation. The proposed system requires two light-emitting diode (LED) markers to be attached to the device, which are tracked by external cameras through a robust algorithm against illumination changes. Three data fusion methods have been proposed, including the triangulation-based stereo-vision system, constraint-based stereo-vision system with occlusion handling, and triangulation-based multivision system. Real-time demonstrations of the proposed system applied to AR and 3-D gaming are also included. The accuracy assessment of the proposed system is carried out by comparing with the data generated by the state-of-the-art commercial motion tracking system OptiTrack. Experimental results show that the proposed system has achieved high accuracy of few centimeters in position estimation and few degrees in orientation estimation.

2D Methods for pose invariant face recognition

CSIR Research Space (South Africa)

Mokoena, Ntabiseng

2016-12-01

Full Text Available The ability to recognise face images under random pose is a task that is done effortlessly by human beings. However, for a computer system, recognising face images under varying poses still remains an open research area. Face recognition across pose...

Pose Tracking Algorithm of an Endoscopic Surgery Robot Wrist

Energy Technology Data Exchange (ETDEWEB)

Wang, L [Chinese-German Institute of Automatic Control Engineering, Tongji University (China); Yin, H L [Chinese-German Institute of Automatic Control Engineering, Tongji University (China); Meng, Q [Shanghai University of Electric Power (China)

2006-10-15

In recent two decades, more and more research on the endoscopic surgery has been carried out [2]. Most of the work focuses on the development of the robot in the field of robotics and the navigation of the surgery tools based on computer graphics. But the tracking and locating of the EndoWrist is also a very important aspect. This paper deals with the the tracking algorithm of the EndoWrist's pose (position and orientation). The linear tracking of the position is handled by the Kalman Filter. The quaternion-based nonlinear orientation tracking is implemented with the Extended Kalman Filter. The most innovative point of this paper is the parameterization of the motion model of the Extended Kalman Filter.

The Effect of Motion Analysis Activities in a Video-Based Laboratory in Students' Understanding of Position, Velocity and Frames of Reference

Science.gov (United States)

Koleza, Eugenia; Pappas, John

2008-01-01

In this article, we present the results of a qualitative research project on the effect of motion analysis activities in a Video-Based Laboratory (VBL) on students' understanding of position, velocity and frames of reference. The participants in our research were 48 pre-service teachers enrolled in Education Departments with no previous strong…

Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications

Directory of Open Access Journals (Sweden)

Basam Musleh

2016-09-01

Full Text Available Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels and the vehicle environment (meters depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.

Generalized Hough transform based time invariant action recognition with 3D pose information

Science.gov (United States)

Muench, David; Huebner, Wolfgang; Arens, Michael

2014-10-01

Human action recognition has emerged as an important field in the computer vision community due to its large number of applications such as automatic video surveillance, content based video-search and human robot interaction. In order to cope with the challenges that this large variety of applications present, recent research has focused more on developing classifiers able to detect several actions in more natural and unconstrained video sequences. The invariance discrimination tradeoff in action recognition has been addressed by utilizing a Generalized Hough Transform. As a basis for action representation we transform 3D poses into a robust feature space, referred to as pose descriptors. For each action class a one-dimensional temporal voting space is constructed. Votes are generated from associating pose descriptors with their position in time relative to the end of an action sequence. Training data consists of manually segmented action sequences. In the detection phase valid human 3D poses are assumed as input, e.g. originating from 3D sensors or monocular pose reconstruction methods. The human 3D poses are normalized to gain view-independence and transformed into (i) relative limb-angle space to ensure independence of non-adjacent joints or (ii) geometric features. In (i) an action descriptor consists of the relative angles between limbs and their temporal derivatives. In (ii) the action descriptor consists of different geometric features. In order to circumvent the problem of time-warping we propose to use a codebook of prototypical 3D poses which is generated from sample sequences of 3D motion capture data. This idea is in accordance with the concept of equivalence classes in action space. Results of the codebook method are presented using the Kinect sensor and the CMU Motion Capture Database.

The nucleolus is well-posed

Science.gov (United States)

Fragnelli, Vito; Patrone, Fioravante; Torre, Anna

2006-02-01

The lexicographic order is not representable by a real-valued function, contrary to many other orders or preorders. So, standard tools and results for well-posed minimum problems cannot be used. We prove that under suitable hypotheses it is however possible to guarantee the well-posedness of a lexicographic minimum over a compact or convex set. This result allows us to prove that some game theoretical solution concepts, based on lexicographic order are well-posed: in particular, this is true for the nucleolus.

Real-Time Head Pose Estimation on Mobile Platforms

Directory of Open Access Journals (Sweden)

Jianfeng Ren

2010-06-01

Full Text Available Many computer vision applications such as augmented reality require head pose estimation. As far as the real-time implementation of head pose estimation on relatively resource limited mobile platforms is concerned, it is required to satisfy real-time constraints while maintaining reasonable head pose estimation accuracy. The introduced head pose estimation approach in this paper is an attempt to meet this objective. The approach consists of the following components: Viola-Jones face detection, color-based face tracking using an online calibration procedure, and head pose estimation using Hu moment features and Fisher linear discriminant. Experimental results running on an actual mobile device are reported exhibiting both the real- time and accuracy aspects of the developed approach.

Remote-controlled flexible pose measurement system and method for a moving target in wind tunnel

Directory of Open Access Journals (Sweden)

Wei LIU

2018-01-01

Full Text Available The measurement of position and attitude parameters for the isolated target from a high-speed aircraft is a great challenge in the field of wind tunnel simulation technology. This paper proposes a remote-controlled flexible pose measurement system in wind tunnel conditions for the separation of a target from an aircraft. The position and attitude parameters of a moving object are obtained by utilizing a single camera with a focal length and camera orientation that can be changed based on different measurement conditions. Using this proposed system and method, both the flexibility and efficiency of the pose measurement system can be enhanced in wind tunnel conditions to meet the measurement requirements of different objects and experiments, which is also useful for the development of an intelligent position and attitude measurement system. The position and the focal length of the camera also can be controlled remotely during measurements to enlarge both the vertical and horizontal measurement range of this system. Experiments are conducted in the laboratory to measure the position and attitude of moving objects with high flexibility and efficiency, and the measurement precision of the measurement system is also verified through experiments.

The influence of the tangential velocity of inner rotating wall on axial velocity profile of flow through vertical annular pipe with rotating inner surface

Directory of Open Access Journals (Sweden)

Sharf Abdusalam M.

2014-03-01

Full Text Available In the oil and gas industries, understanding the behaviour of a flow through an annulus gap in a vertical position, whose outer wall is stationary whilst the inner wall rotates, is a significantly important issue in drilling wells. The main emphasis is placed on experimental (using an available rig and computational (employing CFD software investigations into the effects of the rotation speed of the inner pipe on the axial velocity profiles. The measured axial velocity profiles, in the cases of low axial flow, show that the axial velocity is influenced by the rotation speed of the inner pipe in the region of almost 33% of the annulus near the inner pipe, and influenced inversely in the rest of the annulus. The position of the maximum axial velocity is shifted from the centre to be nearer the inner pipe, by increasing the rotation speed. However, in the case of higher flow, as the rotation speed increases, the axial velocity is reduced and the position of the maximum axial velocity is skewed towards the centre of the annulus. There is a reduction of the swirl velocity corresponding to the rise of the volumetric flow rate.

Head pose estimation algorithm based on deep learning

Science.gov (United States)

Cao, Yuanming; Liu, Yijun

2017-05-01

Head pose estimation has been widely used in the field of artificial intelligence, pattern recognition and intelligent human-computer interaction and so on. Good head pose estimation algorithm should deal with light, noise, identity, shelter and other factors robustly, but so far how to improve the accuracy and robustness of attitude estimation remains a major challenge in the field of computer vision. A method based on deep learning for pose estimation is presented. Deep learning with a strong learning ability, it can extract high-level image features of the input image by through a series of non-linear operation, then classifying the input image using the extracted feature. Such characteristics have greater differences in pose, while they are robust of light, identity, occlusion and other factors. The proposed head pose estimation is evaluated on the CAS-PEAL data set. Experimental results show that this method is effective to improve the accuracy of pose estimation.

Velocity feedback control with a flywheel proof mass actuator

Science.gov (United States)

Kras, Aleksander; Gardonio, Paolo

2017-08-01

This paper presents four new proof mass actuators to be used in velocity feedback control systems for the control of vibrations of machines and flexible structures. A classical proof mass actuator is formed by a coil-magnet linear motor, with either the magnet or the armature-coil proof mass suspended on soft springs. This arrangement produces a net force effect at frequencies above the fundamental resonance frequency of the springs-proof mass system. Thus, it can be used to implement point velocity feedback loops, although the dynamic response and static deflection of the springs-proof mass system poses some stability and control performance limitations. The four proof mass actuators presented in this study include a flywheel element, which is used to augment the inertia effect of the suspended proof mass. The paper shows that the flywheel element modifies both the dynamic response and static deflection of the springs-proof mass system in such a way as the stability and control performance of velocity feedback loops using these actuators are significantly improved.

In-the-wild facial expression recognition in extreme poses

Science.gov (United States)

Yang, Fei; Zhang, Qian; Zheng, Chi; Qiu, Guoping

2018-04-01

In the computer research area, facial expression recognition is a hot research problem. Recent years, the research has moved from the lab environment to in-the-wild circumstances. It is challenging, especially under extreme poses. But current expression detection systems are trying to avoid the pose effects and gain the general applicable ability. In this work, we solve the problem in the opposite approach. We consider the head poses and detect the expressions within special head poses. Our work includes two parts: detect the head pose and group it into one pre-defined head pose class; do facial expression recognize within each pose class. Our experiments show that the recognition results with pose class grouping are much better than that of direct recognition without considering poses. We combine the hand-crafted features, SIFT, LBP and geometric feature, with deep learning feature as the representation of the expressions. The handcrafted features are added into the deep learning framework along with the high level deep learning features. As a comparison, we implement SVM and random forest to as the prediction models. To train and test our methodology, we labeled the face dataset with 6 basic expressions.

Face pose tracking using the four-point algorithm

Science.gov (United States)

Fung, Ho Yin; Wong, Kin Hong; Yu, Ying Kin; Tsui, Kwan Pang; Kam, Ho Chuen

2017-06-01

In this paper, we have developed an algorithm to track the pose of a human face robustly and efficiently. Face pose estimation is very useful in many applications such as building virtual reality systems and creating an alternative input method for the disabled. Firstly, we have modified a face detection toolbox called DLib for the detection of a face in front of a camera. The detected face features are passed to a pose estimation method, known as the four-point algorithm, for pose computation. The theory applied and the technical problems encountered during system development are discussed in the paper. It is demonstrated that the system is able to track the pose of a face in real time using a consumer grade laptop computer.

A comparative study of calculated and measured particle velocities

International Nuclear Information System (INIS)

Tariq, S.M.

2005-01-01

After an explosive is detonated in a blast hole, seismic waves are generated in the ground surrounding the blast hole. These waves cause the particles of rock to oscillate about its position. As the wave attenuate, the particles come back to their original position. The rapidity with which the particles move is called the particle velocity. The peak or maximum velocity is the value which is of prime concern. This value of peak particle velocity can be estimated by the equations determined by the United States Bureau of Mines and by the DUPONT. A research program was conducted by the author at the 'Beck Materials Quarry' situated near Rolla, Missouri, USA. The purpose was to draw a comparison between the predicted and measured particle velocities. It was generally found that the predicted peak particle velocities were quite high as compared to the velocities measured by the Seismographs. (author)

A circular feature-based pose measurement method for metal part grasping

International Nuclear Information System (INIS)

Wu, Chenrui; He, Zaixing; Zhang, Shuyou; Zhao, Xinyue

2017-01-01

The grasping of circular metal parts such as bearings and flanges is a common task in industry. Limited by low texture and repeated features, the point-feature-based method is not applicable in pose measurement of these parts. In this paper, we propose a novel pose measurement method for grasping circular metal parts. This method is based on cone degradation and involves a monocular camera. To achieve higher measurement accuracy, a position-based visual servoing method is presented to continuously control an eye-in-hand, six-degrees-of-freedom robot arm to grasp the part. The uncertainty of the part’s coordinate frame during the control process is solved by defining a fixed virtual coordinate frame. Experimental results are provided to illustrate the effectiveness of the proposed method and the factors that affect measurement accuracy are analyzed. (paper)

Skill Levels of Prospective Physics Teachers on Problem Posing

Science.gov (United States)

Cildir, Sema; Sezen, Nazan

2011-01-01

Problem posing is one of the topics which the educators thoroughly accentuate. Problem posing skill is defined as an introvert activity of a student's learning. In this study, skill levels of prospective physics teachers on problem posing were determined and their views on problem posing were evaluated. To this end, prospective teachers were given…

Problem posing as a didactic resource in formal mathematics courses to train future secondary school mathematics teachers

Directory of Open Access Journals (Sweden)

Lorena Salazar Solórzano

2015-06-01

Full Text Available Beginning university training programs must focus on different competencies for mathematics teachers, i.e., not only on solving problems, but also on posing them and analyzing the mathematical activity. This paper reports the results of an exploratory study conducted with future secondary school mathematics teachers on the introduction of problem-posing tasks in formal mathematics courses, specifically in abstract algebra and real analysis courses. Evidence was found that training which includes problem-posing tasks has a positive impact on the students’ understanding of definitions, theorems and exercises within formal mathematics, as well as on their competency in reflecting on the mathematical activity. 

Automated pose estimation of objects using multiple ID devices for handling and maintenance task in nuclear fusion reactor

International Nuclear Information System (INIS)

Umetani, Tomohiro; Morioka, Jun-ichi; Tamura, Yuichi; Inoue, Kenji; Arai, Tatsuo; Mae, Yasusi

2011-01-01

This paper describes a method for the automated estimation of three-dimensional pose (position and orientation) of objects by autonomous robots, using multiple identification (ID) devices. Our goal is to estimate the object pose for assembly or maintenance tasks in a real nuclear fusion reactor system, with autonomous robots cooperating in a virtual assembly system. The method estimates the three-dimensional pose for autonomous robots. This paper discusses a method of motion generation for ID acquisition using the sensory data acquired by the measurement system attached to the robots and from the environment. Experimental results show the feasibility of the proposed method. (author)

Correlation of right atrial appendage velocity with left atrial appendage velocity and brain natriuretic Peptide.

Science.gov (United States)

Kim, Bu-Kyung; Heo, Jung-Ho; Lee, Jae-Woo; Kim, Hyun-Soo; Choi, Byung-Joo; Cha, Tae-Joon

2012-03-01

Left atrial appendage (LAA) anatomy and function have been well characterized both in healthy and diseased people, whereas relatively little attention has been focused on the right atrial appendage (RAA). We sought to evaluate RAA flow velocity and to compare these parameters with LAA indices and with a study of biomarkers, such as brain natriuretic peptide, among patients with sinus rhythm (SR) and atrial fibrillation (AF). In a series of 79 consecutive patients referred for transesophageal echocardiography, 43 patients (23 with AF and 20 controls) were evaluated. AF was associated with a decrease in flow velocity for both LAA and RAA [LAA velocity-SR vs. AF: 61 ± 22 vs. 29 ± 18 m/sec (p vs. AF: 46 ± 20 vs. 19 ± 8 m/sec (p brain natriuretic peptide (BNP). AF was associated with decreased RAA and LAA flow velocities. RAA velocity was found to be positively correlated with LAA velocity and negatively correlated with BNP. The plasma BNP concentration may serve as a determinant of LAA and RAA functions.

Local Feature Learning for Face Recognition under Varying Poses

DEFF Research Database (Denmark)

Duan, Xiaodong; Tan, Zheng-Hua

2015-01-01

In this paper, we present a local feature learning method for face recognition to deal with varying poses. As opposed to the commonly used approaches of recovering frontal face images from profile views, the proposed method extracts the subject related part from a local feature by removing the pose...... related part in it on the basis of a pose feature. The method has a closed-form solution, hence being time efficient. For performance evaluation, cross pose face recognition experiments are conducted on two public face recognition databases FERET and FEI. The proposed method shows a significant...... recognition improvement under varying poses over general local feature approaches and outperforms or is comparable with related state-of-the-art pose invariant face recognition approaches. Copyright ©2015 by IEEE....

EFEKTIVITAS PEMBELAJARAN MATEMATIKA DENGAN METODE PROBLEM POSING BERBASIS PENDIDIKAN KARAKTER

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Eka Lia Susanti

2012-06-01

. Method of data collection with observation sheets and tests. Data processed by the t test and the comparative effect of regression testing. The results showed that the experimental class learning achievement (82.74 was statistically exceed KKM (75. With simple linear regression test obtained regression equation Y = -15.847 + 1.194 X and R2 = 0.829. The coefficient of X is a positive number so that the activity has a positive effect on learning achievement of 82.9%. Average learning achievement experimental class (82.74 and the average learning achievement control class (72.91. In statistical learning achievement test experimental class is better than the control class learning achievement. Based on the results of the analysis is concluded (1 learning to achieve complete learning, (2 a positive influence on the activity of learning achievement, and (3 experimental class learning achievement is better than the control class learning achievement; that learning mathematics with problem posing method based on character education in the TeenZania laboratory is an effective learning.

Hummingbirds control turning velocity using body orientation and turning radius using asymmetrical wingbeat kinematics.

Science.gov (United States)

Read, Tyson J G; Segre, Paolo S; Middleton, Kevin M; Altshuler, Douglas L

2016-03-01

Turning in flight requires reorientation of force, which birds, bats and insects accomplish either by shifting body position and total force in concert or by using left-right asymmetries in wingbeat kinematics. Although both mechanisms have been observed in multiple species, it is currently unknown how each is used to control changes in trajectory. We addressed this problem by measuring body and wingbeat kinematics as hummingbirds tracked a revolving feeder, and estimating aerodynamic forces using a quasi-steady model. During arcing turns, hummingbirds symmetrically banked the stroke plane of both wings, and the body, into turns, supporting a body-dependent mechanism. However, several wingbeat asymmetries were present during turning, including a higher and flatter outer wingtip path and a lower more deviated inner wingtip path. A quasi-steady analysis of arcing turns performed with different trajectories revealed that changes in radius were associated with asymmetrical kinematics and forces, and changes in velocity were associated with symmetrical kinematics and forces. Collectively, our results indicate that both body-dependent and -independent force orientation mechanisms are available to hummingbirds, and that these kinematic strategies are used to meet the separate aerodynamic challenges posed by changes in velocity and turning radius. © 2016 The Author(s).

Person-Independent Head Pose Estimation Using Biased Manifold Embedding

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Sethuraman Panchanathan

2008-02-01

Full Text Available Head pose estimation has been an integral problem in the study of face recognition systems and human-computer interfaces, as part of biometric applications. A fine estimate of the head pose angle is necessary and useful for several face analysis applications. To determine the head pose, face images with varying pose angles can be considered to be lying on a smooth low-dimensional manifold in high-dimensional image feature space. However, when there are face images of multiple individuals with varying pose angles, manifold learning techniques often do not give accurate results. In this work, we propose a framework for a supervised form of manifold learning called Biased Manifold Embedding to obtain improved performance in head pose angle estimation. This framework goes beyond pose estimation, and can be applied to all regression applications. This framework, although formulated for a regression scenario, unifies other supervised approaches to manifold learning that have been proposed so far. Detailed studies of the proposed method are carried out on the FacePix database, which contains 181 face images each of 30 individuals with pose angle variations at a granularity of 1∘. Since biometric applications in the real world may not contain this level of granularity in training data, an analysis of the methodology is performed on sparsely sampled data to validate its effectiveness. We obtained up to 2∘ average pose angle estimation error in the results from our experiments, which matched the best results obtained for head pose estimation using related approaches.

Voxel-based registration of simulated and real patient CBCT data for accurate dental implant pose estimation

Science.gov (United States)

Moreira, António H. J.; Queirós, Sandro; Morais, Pedro; Rodrigues, Nuno F.; Correia, André Ricardo; Fernandes, Valter; Pinho, A. C. M.; Fonseca, Jaime C.; Vilaça, João. L.

2015-03-01

The success of dental implant-supported prosthesis is directly linked to the accuracy obtained during implant's pose estimation (position and orientation). Although traditional impression techniques and recent digital acquisition methods are acceptably accurate, a simultaneously fast, accurate and operator-independent methodology is still lacking. Hereto, an image-based framework is proposed to estimate the patient-specific implant's pose using cone-beam computed tomography (CBCT) and prior knowledge of implanted model. The pose estimation is accomplished in a threestep approach: (1) a region-of-interest is extracted from the CBCT data using 2 operator-defined points at the implant's main axis; (2) a simulated CBCT volume of the known implanted model is generated through Feldkamp-Davis-Kress reconstruction and coarsely aligned to the defined axis; and (3) a voxel-based rigid registration is performed to optimally align both patient and simulated CBCT data, extracting the implant's pose from the optimal transformation. Three experiments were performed to evaluate the framework: (1) an in silico study using 48 implants distributed through 12 tridimensional synthetic mandibular models; (2) an in vitro study using an artificial mandible with 2 dental implants acquired with an i-CAT system; and (3) two clinical case studies. The results shown positional errors of 67+/-34μm and 108μm, and angular misfits of 0.15+/-0.08° and 1.4°, for experiment 1 and 2, respectively. Moreover, in experiment 3, visual assessment of clinical data results shown a coherent alignment of the reference implant. Overall, a novel image-based framework for implants' pose estimation from CBCT data was proposed, showing accurate results in agreement with dental prosthesis modelling requirements.

Cartesian Control of a 3-DOF Electro-Pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement

Directory of Open Access Journals (Sweden)

Eduardo Izaguirre

2011-09-01

Full Text Available This paper presents a kinematic cartesian control scheme of 3 degree of freedom parallel robot driven by electro-pneumatic actuators based on exteroceptive pose measurement system. The inverse kinematics model is used to obtain the desired joint position coordinates from the time-varying trajectory given in task space. The proposal cascade control scheme in task space is based in two loops, the inner loop consisting in a decoupled joint position control and the outer loop which is designed to obtain an appropriate task space trajectory tracking. In order to avoid the on-line computation of direct kinematics an arrangement of inertial sensor and optical encoders are employed to provide the accurate pose measurement of end-effector. The experiment's results demonstrate the great performance of the proposed control scheme in industrial motion tracking application.

Robust head pose estimation via supervised manifold learning.

Science.gov (United States)

Wang, Chao; Song, Xubo

2014-05-01

Head poses can be automatically estimated using manifold learning algorithms, with the assumption that with the pose being the only variable, the face images should lie in a smooth and low-dimensional manifold. However, this estimation approach is challenging due to other appearance variations related to identity, head location in image, background clutter, facial expression, and illumination. To address the problem, we propose to incorporate supervised information (pose angles of training samples) into the process of manifold learning. The process has three stages: neighborhood construction, graph weight computation and projection learning. For the first two stages, we redefine inter-point distance for neighborhood construction as well as graph weight by constraining them with the pose angle information. For Stage 3, we present a supervised neighborhood-based linear feature transformation algorithm to keep the data points with similar pose angles close together but the data points with dissimilar pose angles far apart. The experimental results show that our method has higher estimation accuracy than the other state-of-art algorithms and is robust to identity and illumination variations. Copyright © 2014 Elsevier Ltd. All rights reserved.

Propagation Velocity of Solid Earth Tides

Science.gov (United States)

Pathak, S.

2017-12-01

One of the significant considerations in most of the geodetic investigations is to take into account the outcome of Solid Earth tides on the location and its consequent impact on the time series of coordinates. In this research work, the propagation velocity resulting from the Solid Earth tides between the Indian stations is computed. Mean daily coordinates for the stations have been computed by applying static precise point positioning technique for a day. The computed coordinates are used as an input for computing the tidal displacements at the stations by Gravity method along three directions at 1-minute interval for 24 hours. Further the baseline distances are computed between four Indian stations. Computation of the propagation velocity for Solid Earth tides can be done by the virtue of study of the concurrent effect of it in-between the stations of identified baseline distance along with the time consumed by the tides for reaching from one station to another. The propagation velocity helps in distinguishing the impact at any station if the consequence at a known station for a specific time-period is known. Thus, with the knowledge of propagation velocity, the spatial and temporal effects of solid earth tides can be estimated with respect to a known station. As theoretically explained, the tides generated are due to the position of celestial bodies rotating about Earth. So the need of study is to observe the correlation of propagation velocity with the rotation speed of the Earth. The propagation velocity of Solid Earth tides comes out to be in the range of 440-470 m/s. This velocity comes out to be in a good agreement with the Earth's rotation speed.

Maximal power training induced different improvement in throwing velocity and muscle strength according to playing positions in elite male handball players.

Science.gov (United States)

Cherif, M; Chtourou, H; Souissi, N; Aouidet, A; Chamari, K

2016-12-01

This study was designed to assess the effect of strength and power training on throwing velocity and muscle strength in handball players according to their playing positions. Twenty-two male handball players were assigned to either an experimental group (n=11) or a control group (n=11) (age: 22.1 ± 3.0 years). They were asked to complete (i) the ball throwing velocity test and (ii) the one-repetition maximum (1-RM) tests for the half-back squat, the pull-over, the bench press, the developed neck, and the print exercises before and after 12 weeks of maximal power training. The training was designed to improve strength and power with an intensity of 85-95% of the 1RM. In addition to their usual routine handball training sessions, participants performed two sessions per week. During each session, they performed 3-5 sets of 3-8 repetitions with 3 min of rest in between. Then, they performed specific shots (i.e., 12 to 40). Ball-throwing velocity (p<0.001) was higher after the training period in rear line players (RL). The training programme resulted in an improvement of 1RM bench press (p<0.001), 1RM developed neck (p<0.001) and 1RM print (p<0.001) in both front line (FL) and RL. The control group showed a significant improvement only in ball-throwing velocity (p<0.01) and 1RM bench press (p<0.01) in RL. A significantly greater improvement was found in ball-throwing velocity (p<0.001), 1RM bench press (p<0.001), and 1RM half-back squat exercises in players of the central axis (CA) compared to the lateral axis (LA) (p<0.01). The power training programme induced significantly greater increases in ball-throwing velocity and muscle strength in FL than RL and in CA than LA axis players.

Streaming Velocities and the Baryon Acoustic Oscillation Scale.

Science.gov (United States)

Blazek, Jonathan A; McEwen, Joseph E; Hirata, Christopher M

2016-03-25

At the epoch of decoupling, cosmic baryons had supersonic velocities relative to the dark matter that were coherent on large scales. These velocities subsequently slow the growth of small-scale structure and, via feedback processes, can influence the formation of larger galaxies. We examine the effect of streaming velocities on the galaxy correlation function, including all leading-order contributions for the first time. We find that the impact on the baryon acoustic oscillation (BAO) peak is dramatically enhanced (by a factor of ∼5) over the results of previous investigations, with the primary new effect due to advection: if a galaxy retains memory of the primordial streaming velocity, it does so at its Lagrangian, rather than Eulerian, position. Since correlations in the streaming velocity change rapidly at the BAO scale, this advection term can cause a significant shift in the observed BAO position. If streaming velocities impact tracer density at the 1% level, compared to the linear bias, the recovered BAO scale is shifted by approximately 0.5%. This new effect, which is required to preserve Galilean invariance, greatly increases the importance of including streaming velocities in the analysis of upcoming BAO measurements and opens a new window to the astrophysics of galaxy formation.

Measurement of sound velocity profiles in fluids for process monitoring

International Nuclear Information System (INIS)

Wolf, M; Kühnicke, E; Lenz, M; Bock, M

2012-01-01

In ultrasonic measurements, the time of flight to the object interface is often the only information that is analysed. Conventionally it is only possible to determine distances or sound velocities if the other value is known. The current paper deals with a novel method to measure the sound propagation path length and the sound velocity in media with moving scattering particles simultaneously. Since the focal position also depends on sound velocity, it can be used as a second parameter. Via calibration curves it is possible to determine the focal position and sound velocity from the measured time of flight to the focus, which is correlated to the maximum of averaged echo signal amplitude. To move focal position along the acoustic axis, an annular array is used. This allows measuring sound velocity locally resolved without any previous knowledge of the acoustic media and without a reference reflector. In previous publications the functional efficiency of this method was shown for media with constant velocities. In this work the accuracy of these measurements is improved. Furthermore first measurements and simulations are introduced for non-homogeneous media. Therefore an experimental set-up was created to generate a linear temperature gradient, which also causes a gradient of sound velocity.

Cognitive regulation of saccadic velocity by reward prospect.

Science.gov (United States)

Chen, Lewis L; Hung, Leroy Y; Quinet, Julie; Kosek, Kevin

2013-08-01

It is known that expectation of reward speeds up saccades. Past studies have also shown the presence of a saccadic velocity bias in the orbit, resulting from a biomechanical regulation over varying eccentricities. Nevertheless, whether and how reward expectation interacts with the biomechanical regulation of saccadic velocities over varying eccentricities remains unknown. We addressed this question by conducting a visually guided double-step saccade task. The role of reward expectation was tested in monkeys performing two consecutive horizontal saccades, one associated with reward prospect and the other not. To adequately assess saccadic velocity and avoid adaptation, we systematically varied initial eye positions, saccadic directions and amplitudes. Our results confirmed the existence of a velocity bias in the orbit, i.e., saccadic peak velocity decreased linearly as the initial eye position deviated in the direction of the saccade. The slope of this bias increased as saccadic amplitudes increased. Nevertheless, reward prospect facilitated velocity to a greater extent for saccades away from than for saccades toward the orbital centre, rendering an overall reduction in the velocity bias. The rate (slope) and magnitude (intercept) of reward modulation over this velocity bias were linearly correlated with amplitudes, similar to the amplitude-modulated velocity bias without reward prospect, which presumably resulted from a biomechanical regulation. Small-amplitude (≤ 5°) saccades received little modulation. These findings together suggest that reward expectation modulated saccadic velocity not as an additive signal but as a facilitating mechanism that interacted with the biomechanical regulation. © 2013 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.

Solutions of the Bogoliubov–de Gennes equation with position dependent Fermi-velocity and gap profiles

Energy Technology Data Exchange (ETDEWEB)

Presilla, M. [Dipartimento di Fisica e Geologia, Università degli Studi di Perugia, Via A. Pascoli, I-06123 Perugia (Italy); Panella, O., E-mail: orlando.panella@pg.infn.it [Istituto Nazionale di Fisica Nucleare, Sezione di Perugia, Via A. Pascoli, I-06123 Perugia (Italy); Roy, P. [Physics and Applied Mathematics Unit, Indian Statistical Institute, Kolkata-700108 (India)

2017-02-19

It is shown that bound state solutions of the one dimensional Bogoliubov–de Gennes (BdG) equation may exist when the Fermi velocity becomes dependent on the space coordinate. The existence of bound states in continuum (BIC) like solutions has also been confirmed both in the normal phase as well as in the super-conducting phase. We also show that a combination of Fermi velocity and gap parameter step-like profiles provides scattering solutions with normal reflection and transmission. - Highlights: • Bound states of BdG equation via Fermi velocity modulation. • Existence of bound states in continuum in both the normal and the superconducting phase. • Scattering solutions and bound states within a combination of step-like Fermi velocity and gap profiles.

CO and IRAS detection of an intermediate-velocity cloud

International Nuclear Information System (INIS)

Desert, F.X.; Bazell, D.; Blitz, L.

1990-01-01

In the course of a radio survey of high-Galactic-latitude clouds, CO emission was detected at the position l = 210.8 deg and b = 63.1 deg with an LSR velocity of -39 km/sec. This molecular cloud constitutes the third one with an unusually large absolute velocity at these latitudes, as compared with the 5.4-km/sec cloud-to-cloud velocity dispersion of the high-latitude molecular clouds. The position is coincident with an H I intermediate-velocity cloud (GHL 11, Verschuur H, OLM 268) and the IR-excess cloud 306 in the list by Desert et al. (1988). This cloud is clearly detected at all four IRAS wavelengths and has warmer colors than the local ISM. 27 refs

University Students' Problem Posing Abilities and Attitudes towards Mathematics.

Science.gov (United States)

Grundmeier, Todd A.

2002-01-01

Explores the problem posing abilities and attitudes towards mathematics of students in a university pre-calculus class and a university mathematical proof class. Reports a significant difference in numeric posing versus non-numeric posing ability in both classes. (Author/MM)

Students’ Mathematical Creative Thinking through Problem Posing Learning

Science.gov (United States)

Ulfah, U.; Prabawanto, S.; Jupri, A.

2017-09-01

The research aims to investigate the differences in enhancement of students’ mathematical creative thinking ability of those who received problem posing approach assisted by manipulative media and students who received problem posing approach without manipulative media. This study was a quasi experimental research with non-equivalent control group design. Population of this research was third-grade students of a primary school in Bandung city in 2016/2017 academic year. Sample of this research was two classes as experiment class and control class. The instrument used is a test of mathematical creative thinking ability. Based on the results of the research, it is known that the enhancement of the students’ mathematical creative thinking ability of those who received problem posing approach with manipulative media aid is higher than the ability of those who received problem posing approach without manipulative media aid. Students who get learning problem posing learning accustomed in arranging mathematical sentence become matter of story so it can facilitate students to comprehend about story

Head Pose Estimation on Top of Haar-Like Face Detection: A Study Using the Kinect Sensor

Directory of Open Access Journals (Sweden)

Anwar Saeed

2015-08-01

Full Text Available Head pose estimation is a crucial initial task for human face analysis, which is employed in several computer vision systems, such as: facial expression recognition, head gesture recognition, yawn detection, etc. In this work, we propose a frame-based approach to estimate the head pose on top of the Viola and Jones (VJ Haar-like face detector. Several appearance and depth-based feature types are employed for the pose estimation, where comparisons between them in terms of accuracy and speed are presented. It is clearly shown through this work that using the depth data, we improve the accuracy of the head pose estimation. Additionally, we can spot positive detections, faces in profile views detected by the frontal model, that are wrongly cropped due to background disturbances. We introduce a new depth-based feature descriptor that provides competitive estimation results with a lower computation time. Evaluation on a benchmark Kinect database shows that the histogram of oriented gradients and the developed depth-based features are more distinctive for the head pose estimation, where they compare favorably to the current state-of-the-art approaches. Using a concatenation of the aforementioned feature types, we achieved a head pose estimation with average errors not exceeding 5:1; 4:6; 4:2 for pitch, yaw and roll angles, respectively.

Manifolds for pose tracking from monocular video

Science.gov (United States)

Basu, Saurav; Poulin, Joshua; Acton, Scott T.

2015-03-01

We formulate a simple human-pose tracking theory from monocular video based on the fundamental relationship between changes in pose and image motion vectors. We investigate the natural embedding of the low-dimensional body pose space into a high-dimensional space of body configurations that behaves locally in a linear manner. The embedded manifold facilitates the decomposition of the image motion vectors into basis motion vector fields of the tangent space to the manifold. This approach benefits from the style invariance of image motion flow vectors, and experiments to validate the fundamental theory show reasonable accuracy (within 4.9 deg of the ground truth).

Structural interface parameters are discriminatory in recognising near-native poses of protein-protein interactions.

Directory of Open Access Journals (Sweden)

Sony Malhotra

Full Text Available Interactions at the molecular level in the cellular environment play a very crucial role in maintaining the physiological functioning of the cell. These molecular interactions exist at varied levels viz. protein-protein interactions, protein-nucleic acid interactions or protein-small molecules interactions. Presently in the field, these interactions and their mechanisms mark intensively studied areas. Molecular interactions can also be studied computationally using the approach named as Molecular Docking. Molecular docking employs search algorithms to predict the possible conformations for interacting partners and then calculates interaction energies. However, docking proposes number of solutions as different docked poses and hence offers a serious challenge to identify the native (or near native structures from the pool of these docked poses. Here, we propose a rigorous scoring scheme called DockScore which can be used to rank the docked poses and identify the best docked pose out of many as proposed by docking algorithm employed. The scoring identifies the optimal interactions between the two protein partners utilising various features of the putative interface like area, short contacts, conservation, spatial clustering and the presence of positively charged and hydrophobic residues. DockScore was first trained on a set of 30 protein-protein complexes to determine the weights for different parameters. Subsequently, we tested the scoring scheme on 30 different protein-protein complexes and native or near-native structure were assigned the top rank from a pool of docked poses in 26 of the tested cases. We tested the ability of DockScore to discriminate likely dimer interactions that differ substantially within a homologous family and also demonstrate that DOCKSCORE can distinguish correct pose for all 10 recent CAPRI targets.

The lighter side of advertising: investigating posing and lighting biases.

Science.gov (United States)

Thomas, Nicole A; Burkitt, Jennifer A; Patrick, Regan E; Elias, Lorin J

2008-11-01

People tend to display the left cheek when posing for a portrait; however, this effect does not appear to generalise to advertising. The amount of body visible in the image and the sex of the poser might also contribute to the posing bias. Portraits also exhibit lateral lighting biases, with most images being lit from the left. This effect might also be present in advertisements. A total of 2801 full-page advertisements were sampled and coded for posing direction, lighting direction, sex of model, and amount of body showing. Images of females showed an overall leftward posing bias, but the biases in males depended on the amount of body visible. Males demonstrated rightward posing biases for head-only images. Overall, images tended to be lit from the top left corner. The two factors of posing and lighting biases appear to influence one another. Leftward-lit images had more leftward poses than rightward, while the opposite occurred for rightward-lit images. Collectively, these results demonstrate that the posing biases in advertisements are dependent on the amount of body showing in the image, and that biases in lighting direction interact with these posing biases.

Maximum Likelihood-Based Methods for Target Velocity Estimation with Distributed MIMO Radar

Directory of Open Access Journals (Sweden)

Zhenxin Cao

2018-02-01

Full Text Available The estimation problem for target velocity is addressed in this in the scenario with a distributed multi-input multi-out (MIMO radar system. A maximum likelihood (ML-based estimation method is derived with the knowledge of target position. Then, in the scenario without the knowledge of target position, an iterative method is proposed to estimate the target velocity by updating the position information iteratively. Moreover, the Carmér-Rao Lower Bounds (CRLBs for both scenarios are derived, and the performance degradation of velocity estimation without the position information is also expressed. Simulation results show that the proposed estimation methods can approach the CRLBs, and the velocity estimation performance can be further improved by increasing either the number of radar antennas or the information accuracy of the target position. Furthermore, compared with the existing methods, a better estimation performance can be achieved.

Coupled bias-variance tradeoff for cross-pose face recognition.

Science.gov (United States)

Li, Annan; Shan, Shiguang; Gao, Wen

2012-01-01

Subspace-based face representation can be looked as a regression problem. From this viewpoint, we first revisited the problem of recognizing faces across pose differences, which is a bottleneck in face recognition. Then, we propose a new approach for cross-pose face recognition using a regressor with a coupled bias-variance tradeoff. We found that striking a coupled balance between bias and variance in regression for different poses could improve the regressor-based cross-pose face representation, i.e., the regressor can be more stable against a pose difference. With the basic idea, ridge regression and lasso regression are explored. Experimental results on CMU PIE, the FERET, and the Multi-PIE face databases show that the proposed bias-variance tradeoff can achieve considerable reinforcement in recognition performance.

Animated pose templates for modeling and detecting human actions.

Science.gov (United States)

Yao, Benjamin Z; Nie, Bruce X; Liu, Zicheng; Zhu, Song-Chun

2014-03-01

This paper presents animated pose templates (APTs) for detecting short-term, long-term, and contextual actions from cluttered scenes in videos. Each pose template consists of two components: 1) a shape template with deformable parts represented in an And-node whose appearances are represented by the Histogram of Oriented Gradient (HOG) features, and 2) a motion template specifying the motion of the parts by the Histogram of Optical-Flows (HOF) features. A shape template may have more than one motion template represented by an Or-node. Therefore, each action is defined as a mixture (Or-node) of pose templates in an And-Or tree structure. While this pose template is suitable for detecting short-term action snippets in two to five frames, we extend it in two ways: 1) For long-term actions, we animate the pose templates by adding temporal constraints in a Hidden Markov Model (HMM), and 2) for contextual actions, we treat contextual objects as additional parts of the pose templates and add constraints that encode spatial correlations between parts. To train the model, we manually annotate part locations on several keyframes of each video and cluster them into pose templates using EM. This leaves the unknown parameters for our learning algorithm in two groups: 1) latent variables for the unannotated frames including pose-IDs and part locations, 2) model parameters shared by all training samples such as weights for HOG and HOF features, canonical part locations of each pose, coefficients penalizing pose-transition and part-deformation. To learn these parameters, we introduce a semi-supervised structural SVM algorithm that iterates between two steps: 1) learning (updating) model parameters using labeled data by solving a structural SVM optimization, and 2) imputing missing variables (i.e., detecting actions on unlabeled frames) with parameters learned from the previous step and progressively accepting high-score frames as newly labeled examples. This algorithm belongs to a

Pose Measurement Method and Experiments for High-Speed Rolling Targets in a Wind Tunnel

Directory of Open Access Journals (Sweden)

Zhenyuan Jia

2014-12-01

Full Text Available High-precision wind tunnel simulation tests play an important role in aircraft design and manufacture. In this study, a high-speed pose vision measurement method is proposed for high-speed and rolling targets in a supersonic wind tunnel. To obtain images with high signal-to-noise ratio and avoid impacts on the aerodynamic shape of the rolling targets, a high-speed image acquisition method based on ultrathin retro-reflection markers is presented. Since markers are small-sized and some of them may be lost when the target is rolling, a novel markers layout with which markers are distributed evenly on the surface is proposed based on a spatial coding method to achieve highly accurate pose information. Additionally, a pose acquisition is carried out according to the mentioned markers layout after removing mismatching points by Case Deletion Diagnostics. Finally, experiments on measuring the pose parameters of high-speed targets in the laboratory and in a supersonic wind tunnel are conducted to verify the feasibility and effectiveness of the proposed method. Experimental results indicate that the position measurement precision is less than 0.16 mm, the pitching and yaw angle precision less than 0.132° and the roll angle precision 0.712°.

Pose measurement method and experiments for high-speed rolling targets in a wind tunnel.

Science.gov (United States)

Jia, Zhenyuan; Ma, Xin; Liu, Wei; Lu, Wenbo; Li, Xiao; Chen, Ling; Wang, Zhengqu; Cui, Xiaochun

2014-12-12

High-precision wind tunnel simulation tests play an important role in aircraft design and manufacture. In this study, a high-speed pose vision measurement method is proposed for high-speed and rolling targets in a supersonic wind tunnel. To obtain images with high signal-to-noise ratio and avoid impacts on the aerodynamic shape of the rolling targets, a high-speed image acquisition method based on ultrathin retro-reflection markers is presented. Since markers are small-sized and some of them may be lost when the target is rolling, a novel markers layout with which markers are distributed evenly on the surface is proposed based on a spatial coding method to achieve highly accurate pose information. Additionally, a pose acquisition is carried out according to the mentioned markers layout after removing mismatching points by Case Deletion Diagnostics. Finally, experiments on measuring the pose parameters of high-speed targets in the laboratory and in a supersonic wind tunnel are conducted to verify the feasibility and effectiveness of the proposed method. Experimental results indicate that the position measurement precision is less than 0.16 mm, the pitching and yaw angle precision less than 0.132° and the roll angle precision 0.712°.

A new method for measurement of granular velocities

International Nuclear Information System (INIS)

Nyborg Andersen, B.

1984-01-01

A new, supplementary method to measure granular velocities is presented. The method utilizes the Doppler shift caused by the line of sight component of the solar rotation to cause a wavelength shift through spectral lines as function of heliocentric angle. By measuring the center-to-limb variation of the granular intensity fluctations at different wavelength positions in the lines, the velocities are found. To do this, assumptions regarding the geometrical structure of the velocity and intensity fields have to be made. Preliminary application of the method results in a steep velocity gradient suggesting zero velocity at a hight of 200 km above tau 500 = 1. Possible causes are discussed

Turbulent flow velocity distribution at rough walls

International Nuclear Information System (INIS)

Baumann, W.

1978-08-01

Following extensive measurements of the velocity profile in a plate channel with artificial roughness geometries specific investigations were carried out to verify the results obtained. The wall geometry used was formed by high transverse square ribs having a large pitch. The measuring position relative to the ribs was varied as a parameter thus providing a statement on the local influence of roughness ribs on the values measured. As a fundamental result it was found that the gradient of the logarithmic rough wall velocity profiles, which differs widely from the value 2.5, depends but slightly on the measuring position relative to the ribs. The gradients of the smooth wall velocity profiles deviate from 2.5 near the ribs, only. This fact can be explained by the smooth wall shear stress varying with the pitch of the ribs. (orig.) 891 GL [de

Formulas in inverse and ill-posed problems

CERN Document Server

Anikonov, Yu E

1997-01-01

The Inverse and Ill-Posed Problems Series is a series of monographs publishing postgraduate level information on inverse and ill-posed problems for an international readership of professional scientists and researchers. The series aims to publish works which involve both theory and applications in, e.g., physics, medicine, geophysics, acoustics, electrodynamics, tomography, and ecology.

Spatially-resolved velocities of thermally-produced spray droplets using a velocity-divided Abel inversion of photographed streaks

Science.gov (United States)

Kawaguchi, Y.; Kobayashi, N.; Yamagata, Y.; Miyazaki, F.; Yamasaki, M.; Muraoka, K.

2017-10-01

Droplet velocities of thermal spray are known to have profound effects on important coating qualities, such as adhesive strength, porosity, and hardness, for various applications. For obtaining the droplet velocities, therefore, the TOF (time-of-flight) technique has been widely used, which relies on observations of emitted radiation from the droplets, where all droplets along the line-of-sight contribute to signals. Because droplets at and near the flow axis mostly contribute coating layers, it has been hoped to get spatially resolved velocities. For this purpose, a velocity-divided Abel inversion was devised from CMOS photographic data. From this result, it has turned out that the central velocity is about 25% higher than that obtained from the TOF technique for the case studied (at the position 150 mm downstream of the plasma spray gun, where substrates for spray coatings are usually placed). Further implications of the obtained results are discussed.

Fast human pose estimation using 3D Zernike descriptors

Science.gov (United States)

Berjón, Daniel; Morán, Francisco

2012-03-01

Markerless video-based human pose estimation algorithms face a high-dimensional problem that is frequently broken down into several lower-dimensional ones by estimating the pose of each limb separately. However, in order to do so they need to reliably locate the torso, for which they typically rely on time coherence and tracking algorithms. Their losing track usually results in catastrophic failure of the process, requiring human intervention and thus precluding their usage in real-time applications. We propose a very fast rough pose estimation scheme based on global shape descriptors built on 3D Zernike moments. Using an articulated model that we configure in many poses, a large database of descriptor/pose pairs can be computed off-line. Thus, the only steps that must be done on-line are the extraction of the descriptors for each input volume and a search against the database to get the most likely poses. While the result of such process is not a fine pose estimation, it can be useful to help more sophisticated algorithms to regain track or make more educated guesses when creating new particles in particle-filter-based tracking schemes. We have achieved a performance of about ten fps on a single computer using a database of about one million entries.

Hydrodynamic Equations for Flocking Models without Velocity Alignment

Science.gov (United States)

Peruani, Fernando

2017-10-01

The spontaneous emergence of collective motion patterns is usually associated with the presence of a velocity alignment mechanism that mediates the interactions among the moving individuals. Despite of this widespread view, it has been shown recently that several flocking behaviors can emerge in the absence of velocity alignment and as a result of short-range, position-based, attractive forces that act inside a vision cone. Here, we derive the corresponding hydrodynamic equations of a microscopic position-based flocking model, reviewing and extending previous reported results. In particular, we show that three distinct macroscopic collective behaviors can be observed: i) the coarsening of aggregates with no orientational order, ii) the emergence of static, elongated nematic bands, and iii) the formation of moving, locally polar structures, which we call worms. The derived hydrodynamic equations indicate that active particles interacting via position-based interactions belong to a distinct class of active systems fundamentally different from other active systems, including velocity-alignment-based flocking systems.

Instantaneous fluctuation velocity and skewness distributions upstream of transition onset

International Nuclear Information System (INIS)

Hernon, D.; Walsh, E.J.; McEligot, D.M.

2007-01-01

The development of streamwise orientated disturbances through the boundary layer thickness prior to transition onset for zero-pressure gradient boundary layer flow under the influence %Tu = 4.2 is presented. The analysis concentrates on the development of the maximum positive and negative of the fluctuation velocity in order to gain further insight into the transition process. The average location of the peak negative fluctuation velocity over a range of Reynolds numbers was measured in the upper portion of the boundary layer at y/δ ∼ 0.6, whereas the location of the peak positive value was measured at y/δ ∼ 0.3. The disturbance magnitude of the negative fluctuation velocity increased beyond that of the positive as transition onset approached. The distribution and disturbance magnitude of the maximum positive and negative fluctuation velocities indicate that the initiation of transition may occur on the low-speed components of the flow that are lifted up to the upper region of the boundary layer. This is in qualitative agreement with recent direct numerical simulations on the breakdown of the flow on the lifted low-speed streaks near the boundary layer edge. The results presented in this investigation also demonstrate the increased physical insight gained by examining the distributions of the maximum positive and negative of the streamwise fluctuation velocity component associated with the low- and high-speed streaks, compared to time-averaged values, in determining what structures cause the breakdown to turbulence

Transfer between Pose and Illumination Training in Face Recognition

Science.gov (United States)

Liu, Chang Hong; Bhuiyan, Md. Al-Amin; Ward, James; Sui, Jie

2009-01-01

The relationship between pose and illumination learning in face recognition was examined in a yes-no recognition paradigm. The authors assessed whether pose training can transfer to a new illumination or vice versa. Results show that an extensive level of pose training through a face-name association task was able to generalize to a new…

Hardware in the Loop Performance Assessment of LIDAR-Based Spacecraft Pose Determination.

Science.gov (United States)

Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

2017-09-24

In this paper an original, easy to reproduce, semi-analytic calibration approach is developed for hardware-in-the-loop performance assessment of pose determination algorithms processing point cloud data, collected by imaging a non-cooperative target with LIDARs. The laboratory setup includes a scanning LIDAR, a monocular camera, a scaled-replica of a satellite-like target, and a set of calibration tools. The point clouds are processed by uncooperative model-based algorithms to estimate the target relative position and attitude with respect to the LIDAR. Target images, acquired by a monocular camera operated simultaneously with the LIDAR, are processed applying standard solutions to the Perspective- n -Points problem to get high-accuracy pose estimates which can be used as a benchmark to evaluate the accuracy attained by the LIDAR-based techniques. To this aim, a precise knowledge of the extrinsic relative calibration between the camera and the LIDAR is essential, and it is obtained by implementing an original calibration approach which does not need ad-hoc homologous targets (e.g., retro-reflectors) easily recognizable by the two sensors. The pose determination techniques investigated by this work are of interest to space applications involving close-proximity maneuvers between non-cooperative platforms, e.g., on-orbit servicing and active debris removal.

An improved silhouette for human pose estimation

Science.gov (United States)

Hawes, Anthony H.; Iftekharuddin, Khan M.

2017-08-01

We propose a novel method for analyzing images that exploits the natural lines of a human poses to find areas where self-occlusion could be present. Errors caused by self-occlusion cause several modern human pose estimation methods to mis-identify body parts, which reduces the performance of most action recognition algorithms. Our method is motivated by the observation that, in several cases, occlusion can be reasoned using only boundary lines of limbs. An intelligent edge detection algorithm based on the above principle could be used to augment the silhouette with information useful for pose estimation algorithms and push forward progress on occlusion handling for human action recognition. The algorithm described is applicable to computer vision scenarios involving 2D images and (appropriated flattened) 3D images.

Pose estimation for mobile robots working on turbine blade

Energy Technology Data Exchange (ETDEWEB)

Ma, X.D.; Chen, Q.; Liu, J.J.; Sun, Z.G.; Zhang, W.Z. [Tsinghua Univ., Beijing (China). Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Dept. of Mechanical Engineering

2009-03-11

This paper discussed a features point detection and matching task technique for mobile robots used in wind turbine blade applications. The vision-based scheme used visual information from the robot's surrounding environment to match successive image frames. An improved pose estimation algorithm based on a scale invariant feature transform (SIFT) was developed to consider the characteristics of local images of turbine blades, pose estimation problems, and conditions. The method included a pre-subsampling technique for reducing computation and bidirectional matching for improving precision. A random sample consensus (RANSAC) method was used to estimate the robot's pose. Pose estimation conditions included a wide pose range; the distance between neighbouring blades; and mechanical, electromagnetic, and optical disturbances. An experimental platform was used to demonstrate the validity of the proposed algorithm. 20 refs., 6 figs.

Temporal subtraction of chest radiographs compensating pose differences

Science.gov (United States)

von Berg, Jens; Dworzak, Jalda; Klinder, Tobias; Manke, Dirk; Kreth, Adrian; Lamecker, Hans; Zachow, Stefan; Lorenz, Cristian

2011-03-01

Temporal subtraction techniques using 2D image registration improve the detectability of interval changes from chest radiographs. Although such methods are well known for some time they are not widely used in radiologic practice. The reason is the occurrence of strong pose differences between two acquisitions with a time interval of months to years in between. Such strong perspective differences occur in a reasonable number of cases. They cannot be compensated by available image registration methods and thus mask interval changes to be undetectable. In this paper a method is proposed to estimate a 3D pose difference by the adaptation of a 3D rib cage model to both projections. The difference between both is then compensated for, thus producing a subtraction image with virtually no change in pose. The method generally assumes that no 3D image data is available from the patient. The accuracy of pose estimation is validated with chest phantom images acquired under controlled geometric conditions. A subtle interval change simulated by a piece of plastic foam attached to the phantom becomes visible in subtraction images generated with this technique even at strong angular pose differences like an anterior-posterior inclination of 13 degrees.

High-precision pose measurement method in wind tunnels based on laser-aided vision technology

Directory of Open Access Journals (Sweden)

Liu Wei

2015-08-01

Full Text Available The measurement of position and attitude parameters for the isolated target from a high-speed aircraft is a great challenge in the field of wind tunnel simulation technology. In this paper, firstly, an image acquisition method for small high-speed targets with multi-dimensional movement in wind tunnel environment is proposed based on laser-aided vision technology. Combining with the trajectory simulation of the isolated model, the reasonably distributed laser stripes and self-luminous markers are utilized to capture clear images of the object. Then, after image processing, feature extraction, stereo correspondence and reconstruction, three-dimensional information of laser stripes and self-luminous markers are calculated. Besides, a pose solution method based on projected laser stripes and self-luminous markers is proposed. Finally, simulation experiments on measuring the position and attitude of high-speed rolling targets are conducted, as well as accuracy verification experiments. Experimental results indicate that the proposed method is feasible and efficient for measuring the pose parameters of rolling targets in wind tunnels.

A combined vision-inertial fusion approach for 6-DoF object pose estimation

Science.gov (United States)

Li, Juan; Bernardos, Ana M.; Tarrío, Paula; Casar, José R.

2015-02-01

The estimation of the 3D position and orientation of moving objects (`pose' estimation) is a critical process for many applications in robotics, computer vision or mobile services. Although major research efforts have been carried out to design accurate, fast and robust indoor pose estimation systems, it remains as an open challenge to provide a low-cost, easy to deploy and reliable solution. Addressing this issue, this paper describes a hybrid approach for 6 degrees of freedom (6-DoF) pose estimation that fuses acceleration data and stereo vision to overcome the respective weaknesses of single technology approaches. The system relies on COTS technologies (standard webcams, accelerometers) and printable colored markers. It uses a set of infrastructure cameras, located to have the object to be tracked visible most of the operation time; the target object has to include an embedded accelerometer and be tagged with a fiducial marker. This simple marker has been designed for easy detection and segmentation and it may be adapted to different service scenarios (in shape and colors). Experimental results show that the proposed system provides high accuracy, while satisfactorily dealing with the real-time constraints.

Non-standard and improperly posed problems

CERN Document Server

Straughan, Brian; Ames, William F

1997-01-01

Written by two international experts in the field, this book is the first unified survey of the advances made in the last 15 years on key non-standard and improperly posed problems for partial differential equations.This reference for mathematicians, scientists, and engineers provides an overview of the methodology typically used to study improperly posed problems. It focuses on structural stability--the continuous dependence of solutions on the initial conditions and the modeling equations--and on problems for which data are only prescribed on part of the boundary.The book addresses continuou

Intelligent Control of Welding Gun Pose for Pipeline Welding Robot Based on Improved Radial Basis Function Network and Expert System

Directory of Open Access Journals (Sweden)

Jingwen Tian

2013-02-01

Full Text Available Since the control system of the welding gun pose in whole-position welding is complicated and nonlinear, an intelligent control system of welding gun pose for a pipeline welding robot based on an improved radial basis function neural network (IRBFNN and expert system (ES is presented in this paper. The structure of the IRBFNN is constructed and the improved genetic algorithm is adopted to optimize the network structure. This control system makes full use of the characteristics of the IRBFNN and the ES. The ADXRS300 micro-mechanical gyro is used as the welding gun position sensor in this system. When the welding gun position is obtained, an appropriate pitch angle can be obtained through expert knowledge and the numeric reasoning capacity of the IRBFNN. ARM is used as the controller to drive the welding gun pitch angle step motor in order to adjust the pitch angle of the welding gun in real-time. The experiment results show that the intelligent control system of the welding gun pose using the IRBFNN and expert system is feasible and it enhances the welding quality. This system has wide prospects for application.

A comparison of ball velocity in different kicking positions with dominant and non-dominant leg in junior soccer players

Directory of Open Access Journals (Sweden)

MÁRIO C. MARQUES

2011-06-01

Full Text Available Problem Statement: The aim of this study was to compare the ball velocity in different kicking conditions with dominant and non-dominant leg in junior soccer players.Approach: Sixteen junior soccer players (age 17.6±0.6yr, height 1.76±0.06m, and weight 67.9±5.2kg participated in this study. All participants kicked a soccer ball three times in seven conditions with the dominant and non-dominant leg. 1 Kicking the ball from 11m straight forwards, 2 and 3 kicking the ball from 11m to the left and right side of the goal, 4 and 5 kicking the ball straight forwards from 11m after a pass from the left and right side, 6 and 7 kicking the ball straight forwards from 11m after a pass that came from a diagonal position (45º from the left and right side. The highest ball velocity was used for analysis.Results: Significant differences were found in ball velocity between the dominant and non-dominant leg in all conditions (p<0.001. For the dominant leg also significant differences were found in the kicking of eleven meters (ideal conditions compared with: the perpendicular passing kick after the ball on the right (p=0.0024 and left (p=0.0080 and also with a diagonal kick after pass (45 ° of the ball on the right (p=0.0017 and left (p = 0.0381. Significant differences in the kicking with the non-dominant leg were found when kicking from eleven meters to the right side of the goal in comparison to: the kick under the same conditions, to the left side of the goal (p=0.0243 after pass and shot from the left side perpendicular (p=0.0222.Conclusions/Recommendations: kicking velocity is influenced very much under different conditions when kicking with the dominant leg while for the non-dominant leg this influence was small, because the non-dominant leg is less trained, so the values of velocity in different conditions, in addition to being the lowest, are closer than those obtained with the dominant leg

Uncertainty assessment of 3D instantaneous velocity model from stack velocities

Science.gov (United States)

Emanuele Maesano, Francesco; D'Ambrogi, Chiara

2015-04-01

stack velocities available inside the area, interpolated using the kriging geo-statistical method. The stack velocities are intersected with the position of the horizons in time domain and from this information we build a pseudo-well to calculate the initial velocity and the gradient of increase (or decrease) of velocity with depth inside the considered rock volume. The experiment is aimed to obtain estimation and a representation of the uncertainty related to the geo-statistical interpolation of velocity data in a 3D model and to have an independent control of the final results using the well markers available inside the test area as constraints. The project GeoMol is co-funded by the Alpine Space Program as part of the European Territorial Cooperation 2007-2013. The project integrates partners from Austria, France, Germany, Italy, Slovenia and Switzerland and runs from September 2012 to June 2015. Further information on www.geomol.eu

Automatic Wave Equation Migration Velocity Analysis by Focusing Subsurface Virtual Sources

KAUST Repository

Sun, Bingbing

2017-11-03

Macro velocity model building is important for subsequent pre-stack depth migration and full waveform inversion. Wave equation migration velocity analysis (WEMVA) utilizes the band-limited waveform to invert for the velocity. Normally, inversion would be implemented by focusing the subsurface offset common image gathers (SOCIGs). We re-examine this concept with a different perspective: In subsurface offset domain, using extended Born modeling, the recorded data can be considered as invariant with respect to the perturbation of the position of the virtual sources and velocity at the same time. A linear system connecting the perturbation of the position of those virtual sources and velocity is derived and solved subsequently by Conjugate Gradient method. In theory, the perturbation of the position of the virtual sources is given by the Rytov approximation. Thus, compared to the Born approximation, it relaxes the dependency on amplitude and makes the proposed method more applicable for real data. We demonstrate the effectiveness of the approach by applying the proposed method on both isotropic and anisotropic VTI synthetic data. A real dataset example verifies the robustness of the proposed method.

Automatic Wave Equation Migration Velocity Analysis by Focusing Subsurface Virtual Sources

KAUST Repository

Sun, Bingbing; Alkhalifah, Tariq Ali

2017-01-01

Macro velocity model building is important for subsequent pre-stack depth migration and full waveform inversion. Wave equation migration velocity analysis (WEMVA) utilizes the band-limited waveform to invert for the velocity. Normally, inversion would be implemented by focusing the subsurface offset common image gathers (SOCIGs). We re-examine this concept with a different perspective: In subsurface offset domain, using extended Born modeling, the recorded data can be considered as invariant with respect to the perturbation of the position of the virtual sources and velocity at the same time. A linear system connecting the perturbation of the position of those virtual sources and velocity is derived and solved subsequently by Conjugate Gradient method. In theory, the perturbation of the position of the virtual sources is given by the Rytov approximation. Thus, compared to the Born approximation, it relaxes the dependency on amplitude and makes the proposed method more applicable for real data. We demonstrate the effectiveness of the approach by applying the proposed method on both isotropic and anisotropic VTI synthetic data. A real dataset example verifies the robustness of the proposed method.

A New Filtering Algorithm Utilizing Radial Velocity Measurement

Institute of Scientific and Technical Information of China (English)

LIU Yan-feng; DU Zi-cheng; PAN Quan

2005-01-01

Pulse Doppler radar measurements consist of range, azimuth, elevation and radial velocity. Most of the radar tracking algorithms in engineering only utilize position measurement. The extended Kalman filter with radial velocity measureneut is presented, then a new filtering algorithm utilizing radial velocity measurement is proposed to improve tracking results and the theoretical analysis is also given. Simulation results of the new algorithm, converted measurement Kalman filter, extended Kalman filter are compared. The effectiveness of the new algorithm is verified by simulation results.

Multi-view 3D Human Pose Estimation in Complex Environment

NARCIS (Netherlands)

Hofmann, K.M.; Gavrila, D.M.

2012-01-01

We introduce a framework for unconstrained 3D human upper body pose estimation from multiple camera views in complex environment. Its main novelty lies in the integration of three components: single-frame pose recovery, temporal integration and model texture adaptation. Single-frame pose recovery

Contactless and pose invariant biometric identification using hand surface.

Science.gov (United States)

Kanhangad, Vivek; Kumar, Ajay; Zhang, David

2011-05-01

This paper presents a novel approach for hand matching that achieves significantly improved performance even in the presence of large hand pose variations. The proposed method utilizes a 3-D digitizer to simultaneously acquire intensity and range images of the user's hand presented to the system in an arbitrary pose. The approach involves determination of the orientation of the hand in 3-D space followed by pose normalization of the acquired 3-D and 2-D hand images. Multimodal (2-D as well as 3-D) palmprint and hand geometry features, which are simultaneously extracted from the user's pose normalized textured 3-D hand, are used for matching. Individual matching scores are then combined using a new dynamic fusion strategy. Our experimental results on the database of 114 subjects with significant pose variations yielded encouraging results. Consistent (across various hand features considered) performance improvement achieved with the pose correction demonstrates the usefulness of the proposed approach for hand based biometric systems with unconstrained and contact-free imaging. The experimental results also suggest that the dynamic fusion approach employed in this work helps to achieve performance improvement of 60% (in terms of EER) over the case when matching scores are combined using the weighted sum rule.

Methods of RVD object pose estimation and experiments

Science.gov (United States)

Shang, Yang; He, Yan; Wang, Weihua; Yu, Qifeng

2007-11-01

Methods of measuring a RVD (rendezvous and docking) cooperative object's pose from monocular and binocular images respectively are presented. The methods solve the initial values first and optimize the object pose parameters by bundle adjustment. In the disturbance-rejecting binocular method, chosen measurement system parameters of one camera's exterior parameters are modified simultaneously. The methods need three or more cooperative target points to measure the object's pose accurately. Experimental data show that the methods converge quickly and stably, provide accurate results and do not need accurate initial values. Even when the chosen measurement system parameters are subjected to some amount of disturbance, the binocular method manages to provide fairly accurate results.

Single-frame 3D human pose recovery from multiple views

NARCIS (Netherlands)

Hofmann, M.; Gavrila, D.M.

2009-01-01

We present a system for the estimation of unconstrained 3D human upper body pose from multi-camera single-frame views. Pose recovery starts with a shape detection stage where candidate poses are generated based on hierarchical exemplar matching in the individual camera views. The hierarchy used in

Genetic analysis of peripheral nerve conduction velocity in twins

NARCIS (Netherlands)

Rijsdijk, F.V.; Boomsma, D.I.; Vernon, P.A.

1995-01-01

We studied variation in peripheral nerve conduction velocity (PNCV) and intelligence in a group of 16-year-old Dutch twins. It has been suggested that both brain nerve conduction velocity and PNCV are positively correlated with intelligence (Reed, 1984) and that heritable differences in NCV may

Turkish Primary School Teachers' Opinions about Problem Posing

Science.gov (United States)

Kilic, Cigdem

2013-01-01

Problem posing is one of the most important topics in a mathematics education. Through problem posing, students gain mathematical abilities and concepts and teachers can evaluate their students and arrange adequate learning environments. The aim of the present study is to investigate Turkish primary school teachers' opinions about problem posing…

Standard diffusive systems are well-posed linear systems

NARCIS (Netherlands)

Matignon, Denis; Zwart, Heiko J.

2004-01-01

The class of well-posed linear systems as introduced by Salamon has become a well-understood class of systems, see e.g. the work of Weiss and the book of Staffans. Many partial partial differential equations with boundary control and point observation can be formulated as a well-posed linear system.

Pose estimation for augmented reality applications using genetic algorithm.

Science.gov (United States)

Yu, Ying Kin; Wong, Kin Hong; Chang, Michael Ming Yuen

2005-12-01

This paper describes a genetic algorithm that tackles the pose-estimation problem in computer vision. Our genetic algorithm can find the rotation and translation of an object accurately when the three-dimensional structure of the object is given. In our implementation, each chromosome encodes both the pose and the indexes to the selected point features of the object. Instead of only searching for the pose as in the existing work, our algorithm, at the same time, searches for a set containing the most reliable feature points in the process. This mismatch filtering strategy successfully makes the algorithm more robust under the presence of point mismatches and outliers in the images. Our algorithm has been tested with both synthetic and real data with good results. The accuracy of the recovered pose is compared to the existing algorithms. Our approach outperformed the Lowe's method and the other two genetic algorithms under the presence of point mismatches and outliers. In addition, it has been used to estimate the pose of a real object. It is shown that the proposed method is applicable to augmented reality applications.

Posing Problems to Understand Children's Learning of Fractions

Science.gov (United States)

Cheng, Lu Pien

2013-01-01

In this study, ways in which problem posing activities aid our understanding of children's learning of addition of unlike fractions and product of proper fractions was examined. In particular, how a simple problem posing activity helps teachers take a second, deeper look at children's understanding of fraction concepts will be discussed. The…

Experimental study of the positive leader velocity as a function of the current in the initial and final-jump phases of a spark discharge

International Nuclear Information System (INIS)

Andreev, A. G.; Bazelyan, E. M.; Bulatov, M. U.; Kuzhekin, I. P.; Makalsky, L. M.; Sukharevskij, D. I.; Syssoev, V. S.

2008-01-01

A positive leader in air at gap lengths of up to 8 m was studied experimentally on an open experimental stand. The voltage source was a 6-MV pulsed voltage generator or an artificial charged aerosol cloud. The dependence of the leader velocity on the current in the range 0.2-8 A was determined by simultaneously recording the optical picture and electric parameters of the discharge. Particular attention was paid to the final-jump phase of the discharge, when the gap was completely bridged by the streamer zone of the leader. It is shown that the character of the dependence of the leader velocity on the current in this phase remains unchanged; hence, the final-jump phase can be used in experiments in which the current has to be varied within a wide range. For this purpose, one can use a damping resistance, which is inefficient in the initial phase. The parameters of the power-law dependence of the leader velocity on the current at currents of a few amperes are established reliably. It is found that the power-law dependence with constant parameters is inapplicable to calculate the leader velocity at currents of about 0.1 A, which correspond to the lower limit of the leader viability.

Marker detection evaluation by phantom and cadaver experiments for C-arm pose estimation pattern

Science.gov (United States)

Steger, Teena; Hoßbach, Martin; Wesarg, Stefan

2013-03-01

C-arm fluoroscopy is used for guidance during several clinical exams, e.g. in bronchoscopy to locate the bronchoscope inside the airways. Unfortunately, these images provide only 2D information. However, if the C-arm pose is known, it can be used to overlay the intrainterventional fluoroscopy images with 3D visualizations of airways, acquired from preinterventional CT images. Thus, the physician's view is enhanced and localization of the instrument at the correct position inside the bronchial tree is facilitated. We present a novel method for C-arm pose estimation introducing a marker-based pattern, which is placed on the patient table. The steel markers form a pattern, allowing to deduce the C-arm pose by use of the projective invariant cross-ratio. Simulations show that the C-arm pose estimation is reliable and accurate for translations inside an imaging area of 30 cm x 50 cm and rotations up to 30°. Mean error values are 0.33 mm in 3D space and 0.48 px in the 2D imaging plane. First tests on C-arm images resulted in similarly compelling accuracy values and high reliability in an imaging area of 30 cm x 42.5 cm. Even in the presence of interfering structures, tested both with anatomy phantoms and a turkey cadaver, high success rates over 90% and fully satisfying execution times below 4 sec for 1024 px × 1024 px images could be achieved.

Attitude and position tracking

CSIR Research Space (South Africa)

Candy, LP

2011-01-01

Full Text Available Several applications require the tracking of attitude and position of a body based on velocity data. It is tempting to use direction cosine matrices (DCM), for example, to track attitude based on angular velocity data, and to integrate the linear...

VeLoc: Finding Your Car in Indoor Parking Structures.

Science.gov (United States)

Gao, Ruipeng; He, Fangpu; Li, Teng

2018-05-02

While WiFi-based indoor localization is attractive, there are many indoor places without WiFi coverage with a strong demand for localization capability. This paper describes a system and associated algorithms to address the indoor vehicle localization problem without the installation of additional infrastructure. In this paper, we propose VeLoc, which utilizes the sensor data of smartphones in the vehicle together with the floor map of the parking structure to track the vehicle in real time. VeLoc simultaneously harnesses constraints imposed by the map and environment sensing. All these cues are codified into a novel augmented particle filtering framework to estimate the position of the vehicle. Experimental results show that VeLoc performs well when even the initial position and the initial heading direction of the vehicle are completely unknown.

Control of group velocity by phase-changing collisions

International Nuclear Information System (INIS)

Goren, C.; Rosenbluh, M.; Wilson-Gordon, A.D.; Friedmann, H.

2005-01-01

We discuss the influence of phase-changing collisions on the group velocities in Doppler-broadened, cycling, degenerate two-level systems where F e =F g +1 and F g >0, interacting with pump and probe lasers, that exhibit electromagnetically induced absorption (EIA). Two model systems are considered: the N system where the pump and probe are polarized perpendicularly, and EIA is due to transfer of coherence (TOC), and the double two-level system (TLS) where both lasers have the same polarization, and EIA is due to transfer of population (TOP). For the case of Doppler-broadened EIA TOC, which occurs at low pump intensity, there is a switch from positive to negative dispersion and group velocity, as the rate of phase-changing collisions is increased. For the case of EIA TOP at low pump intensity, the dispersion and group velocity remain negative even when the collision rate is increased. Pressure-induced narrowing, accompanied by an increase in the magnitude of the negative dispersion and a decrease in the magnitude of the negative group velocity, occurs in both EIA TOC and EIA TOP, at low pump intensity. When the pump intensity is increased, a switch from negative to positive dispersion and group velocity, with increasing collision rate, also occurs in the double TLS system. However, the effect is far smaller than in the case of the N system at low pump intensity

6-DOF Pose Estimation of a Robotic Navigation Aid by Tracking Visual and Geometric Features.

Science.gov (United States)

Ye, Cang; Hong, Soonhac; Tamjidi, Amirhossein

2015-10-01

This paper presents a 6-DOF Pose Estimation (PE) method for a Robotic Navigation Aid (RNA) for the visually impaired. The RNA uses a single 3D camera for PE and object detection. The proposed method processes the camera's intensity and range data to estimates the camera's egomotion that is then used by an Extended Kalman Filter (EKF) as the motion model to track a set of visual features for PE. A RANSAC process is employed in the EKF to identify inliers from the visual feature correspondences between two image frames. Only the inliers are used to update the EKF's state. The EKF integrates the egomotion into the camera's pose in the world coordinate system. To retain the EKF's consistency, the distance between the camera and the floor plane (extracted from the range data) is used by the EKF as the observation of the camera's z coordinate. Experimental results demonstrate that the proposed method results in accurate pose estimates for positioning the RNA in indoor environments. Based on the PE method, a wayfinding system is developed for localization of the RNA in a home environment. The system uses the estimated pose and the floorplan to locate the RNA user in the home environment and announces the points of interest and navigational commands to the user through a speech interface. This work was motivated by the limitations of the existing navigation technology for the visually impaired. Most of the existing methods use a point/line measurement sensor for indoor object detection. Therefore, they lack capability in detecting 3D objects and positioning a blind traveler. Stereovision has been used in recent research. However, it cannot provide reliable depth data for object detection. Also, it tends to produce a lower localization accuracy because its depth measurement error quadratically increases with the true distance. This paper suggests a new approach for navigating a blind traveler. The method uses a single 3D time-of-flight camera for both 6-DOF PE and 3D object

A Method for Improving the Pose Accuracy of a Robot Manipulator Based on Multi-Sensor Combined Measurement and Data Fusion

Science.gov (United States)

Liu, Bailing; Zhang, Fumin; Qu, Xinghua

2015-01-01

An improvement method for the pose accuracy of a robot manipulator by using a multiple-sensor combination measuring system (MCMS) is presented. It is composed of a visual sensor, an angle sensor and a series robot. The visual sensor is utilized to measure the position of the manipulator in real time, and the angle sensor is rigidly attached to the manipulator to obtain its orientation. Due to the higher accuracy of the multi-sensor, two efficient data fusion approaches, the Kalman filter (KF) and multi-sensor optimal information fusion algorithm (MOIFA), are used to fuse the position and orientation of the manipulator. The simulation and experimental results show that the pose accuracy of the robot manipulator is improved dramatically by 38%∼78% with the multi-sensor data fusion. Comparing with reported pose accuracy improvement methods, the primary advantage of this method is that it does not require the complex solution of the kinematics parameter equations, increase of the motion constraints and the complicated procedures of the traditional vision-based methods. It makes the robot processing more autonomous and accurate. To improve the reliability and accuracy of the pose measurements of MCMS, the visual sensor repeatability is experimentally studied. An optimal range of 1 × 0.8 × 1 ∼ 2 × 0.8 × 1 m in the field of view (FOV) is indicated by the experimental results. PMID:25850067

Point Cloud Based Relative Pose Estimation of a Satellite in Close Range

Directory of Open Access Journals (Sweden)

Lujiang Liu

2016-06-01

Full Text Available Determination of the relative pose of satellites is essential in space rendezvous operations and on-orbit servicing missions. The key problems are the adoption of suitable sensor on board of a chaser and efficient techniques for pose estimation. This paper aims to estimate the pose of a target satellite in close range on the basis of its known model by using point cloud data generated by a flash LIDAR sensor. A novel model based pose estimation method is proposed; it includes a fast and reliable pose initial acquisition method based on global optimal searching by processing the dense point cloud data directly, and a pose tracking method based on Iterative Closest Point algorithm. Also, a simulation system is presented in this paper in order to evaluate the performance of the sensor and generate simulated sensor point cloud data. It also provides truth pose of the test target so that the pose estimation error can be quantified. To investigate the effectiveness of the proposed approach and achievable pose accuracy, numerical simulation experiments are performed; results demonstrate algorithm capability of operating with point cloud directly and large pose variations. Also, a field testing experiment is conducted and results show that the proposed method is effective.

Creativity of Field-dependent and Field-independent Students in Posing Mathematical Problems

Science.gov (United States)

Azlina, N.; Amin, S. M.; Lukito, A.

2018-01-01

This study aims at describing the creativity of elementary school students with different cognitive styles in mathematical problem-posing. The posed problems were assessed based on three components of creativity, namely fluency, flexibility, and novelty. The free-type problem posing was used in this study. This study is a descriptive research with qualitative approach. Data collections were conducted through written task and task-based interviews. The subjects were two elementary students. One of them is Field Dependent (FD) and the other is Field Independent (FI) which were measured by GEFT (Group Embedded Figures Test). Further, the data were analyzed based on creativity components. The results show thatFD student’s posed problems have fulfilled the two components of creativity namely fluency, in which the subject posed at least 3 mathematical problems, and flexibility, in whichthe subject posed problems with at least 3 different categories/ideas. Meanwhile,FI student’s posed problems have fulfilled all three components of creativity, namely fluency, in which thesubject posed at least 3 mathematical problems, flexibility, in which thesubject posed problems with at least 3 different categories/ideas, and novelty, in which the subject posed problems that are purely the result of her own ideas and different from problems they have known.

Is supergravity well-posed?

International Nuclear Information System (INIS)

Isenberg, J.; Bao, D.; Yasskin, P.B.

1983-01-01

One rather fundamental question concerning supergravity remains unresolved: Is supergravity a well-posed field theory? That is, does a set of certain (Cauchy) data specified on some initial spacelike surface determine a unique, causally propagating spacetime solution of the supergravity field equations (at least in some finite neighborhood of the initial surface)? In this paper, the authors give a very brief report on work directed towards answering this question. (Auth.)

Topology dependent epidemic spreading velocity in weighted networks

International Nuclear Information System (INIS)

Duan, Wei; Qiu, Xiaogang; Quax, Rick; Lees, Michael; Sloot, Peter M A

2014-01-01

Many diffusive processes occur on structured networks with weighted links, such as disease spread by airplane transport or information diffusion in social networks or blogs. Understanding the impact of weight-connectivity correlations on epidemic spreading in weighted networks is crucial to support decision-making on disease control and other diffusive processes. However, a real understanding of epidemic spreading velocity in weighted networks is still lacking. Here we conduct a numerical study of the velocity of a Reed–Frost epidemic spreading process in various weighted network topologies as a function of the correlations between edge weights and node degrees. We find that a positive weight-connectivity correlation leads to a faster epidemic spreading compared to an unweighted network. In contrast, we find that both uncorrelated and negatively correlated weight distributions lead to slower spreading processes. In the case of positive weight-connectivity correlations, the acceleration of spreading velocity is weak when the heterogeneity of weight distribution increases. (paper)

Using velocity dispersion to estimate halo mass: Is the Local Group in tension with ΛCDM?

Science.gov (United States)

Elahi, Pascal J.; Power, Chris; Lagos, Claudia del P.; Poulton, Rhys; Robotham, Aaron S. G.

2018-06-01

Satellite galaxies are commonly used as tracers to measure the line-of-sight (LOS)velocity dispersion (σLOS) of the dark matter halo associated with their central galaxy, and thereby to estimate the halo's mass. Recent observational dispersion estimates of the Local Group, including the Milky Way and M31, suggest σ ˜50 km s-1, which is surprisingly low when compared to the theoretical expectation of σ ˜100 km s-1 for systems of their mass. Does this pose a problem for Lambda cold dark matter (ΛCDM)? We explore this tension using the SURFS suite of N-body simulations, containing over 10000 (sub)haloes with well tracked orbits. We test how well a central galaxy's host halo velocity dispersion can be recovered by sampling σLOS of subhaloes and surrounding haloes. Our results demonstrate that σLOS is biased mass proxy. We define an optimal window in vLOS and projected distance (Dp) - 0.5 ≲ Dp/Rvir ≲ 1.0 and vLOS ≲ 0.5Vesc, where Rvir is the virial radius and Vesc is the escape velocity - such that the scatter in LOS to halo dispersion is minimized - σLOS = (0.5 ± 0.1)σv, H. We argue that this window should be used to measure LOS dispersions as a proxy for mass, as it minimises scatter in the σLOS-Mvir relation. This bias also naturally explains the results from McConnachie (2012), who used similar cuts when estimating σLOS, LG, producing a bias of σLG = (0.44 ± 0.14)σv, H. We conclude that the Local Group's velocity dispersion does not pose a problem for ΛCDM and has a mass of log M_{LG, vir}/M_{⊙}=12.0^{+0.8}_{-2.0}.

VeLoc: Finding Your Car in Indoor Parking Structures

Directory of Open Access Journals (Sweden)

Ruipeng Gao

2018-05-01

Full Text Available While WiFi-based indoor localization is attractive, there are many indoor places without WiFi coverage with a strong demand for localization capability. This paper describes a system and associated algorithms to address the indoor vehicle localization problem without the installation of additional infrastructure. In this paper, we propose VeLoc, which utilizes the sensor data of smartphones in the vehicle together with the floor map of the parking structure to track the vehicle in real time. VeLoc simultaneously harnesses constraints imposed by the map and environment sensing. All these cues are codified into a novel augmented particle filtering framework to estimate the position of the vehicle. Experimental results show that VeLoc performs well when even the initial position and the initial heading direction of the vehicle are completely unknown.

A Fabry-Perot interferometer system for high-speed velocity measurement

NARCIS (Netherlands)

Cheng, L.K.; Bruinsma, A.J.A.; Prinse, W.C.; Smorenburg, C.

1997-01-01

The Fabry-Perot Velocity Interferometer System (F-PVIS) is designed and built for measuring the Doppler shift of light by recording positional changes in the interferometric pattern behind the Fabry-Perot interferometer. The velocity of a surface can be deduced from the Doppler shift which is caused

Pose-Invariant Face Recognition via RGB-D Images.

Science.gov (United States)

Sang, Gaoli; Li, Jing; Zhao, Qijun

2016-01-01

Three-dimensional (3D) face models can intrinsically handle large pose face recognition problem. In this paper, we propose a novel pose-invariant face recognition method via RGB-D images. By employing depth, our method is able to handle self-occlusion and deformation, both of which are challenging problems in two-dimensional (2D) face recognition. Texture images in the gallery can be rendered to the same view as the probe via depth. Meanwhile, depth is also used for similarity measure via frontalization and symmetric filling. Finally, both texture and depth contribute to the final identity estimation. Experiments on Bosphorus, CurtinFaces, Eurecom, and Kiwi databases demonstrate that the additional depth information has improved the performance of face recognition with large pose variations and under even more challenging conditions.

Soft tissue navigation for laparoscopic prostatectomy: evaluation of camera pose estimation for enhanced visualization

Science.gov (United States)

Baumhauer, M.; Simpfendörfer, T.; Schwarz, R.; Seitel, M.; Müller-Stich, B. P.; Gutt, C. N.; Rassweiler, J.; Meinzer, H.-P.; Wolf, I.

2007-03-01

We introduce a novel navigation system to support minimally invasive prostate surgery. The system utilizes transrectal ultrasonography (TRUS) and needle-shaped navigation aids to visualize hidden structures via Augmented Reality. During the intervention, the navigation aids are segmented once from a 3D TRUS dataset and subsequently tracked by the endoscope camera. Camera Pose Estimation methods directly determine position and orientation of the camera in relation to the navigation aids. Accordingly, our system does not require any external tracking device for registration of endoscope camera and ultrasonography probe. In addition to a preoperative planning step in which the navigation targets are defined, the procedure consists of two main steps which are carried out during the intervention: First, the preoperatively prepared planning data is registered with an intraoperatively acquired 3D TRUS dataset and the segmented navigation aids. Second, the navigation aids are continuously tracked by the endoscope camera. The camera's pose can thereby be derived and relevant medical structures can be superimposed on the video image. This paper focuses on the latter step. We have implemented several promising real-time algorithms and incorporated them into the Open Source Toolkit MITK (www.mitk.org). Furthermore, we have evaluated them for minimally invasive surgery (MIS) navigation scenarios. For this purpose, a virtual evaluation environment has been developed, which allows for the simulation of navigation targets and navigation aids, including their measurement errors. Besides evaluating the accuracy of the computed pose, we have analyzed the impact of an inaccurate pose and the resulting displacement of navigation targets in Augmented Reality.

Multi-Task Convolutional Neural Network for Pose-Invariant Face Recognition

Science.gov (United States)

Yin, Xi; Liu, Xiaoming

2018-02-01

This paper explores multi-task learning (MTL) for face recognition. We answer the questions of how and why MTL can improve the face recognition performance. First, we propose a multi-task Convolutional Neural Network (CNN) for face recognition where identity classification is the main task and pose, illumination, and expression estimations are the side tasks. Second, we develop a dynamic-weighting scheme to automatically assign the loss weight to each side task, which is a crucial problem in MTL. Third, we propose a pose-directed multi-task CNN by grouping different poses to learn pose-specific identity features, simultaneously across all poses. Last but not least, we propose an energy-based weight analysis method to explore how CNN-based MTL works. We observe that the side tasks serve as regularizations to disentangle the variations from the learnt identity features. Extensive experiments on the entire Multi-PIE dataset demonstrate the effectiveness of the proposed approach. To the best of our knowledge, this is the first work using all data in Multi-PIE for face recognition. Our approach is also applicable to in-the-wild datasets for pose-invariant face recognition and achieves comparable or better performance than state of the art on LFW, CFP, and IJB-A datasets.

Drogue pose estimation for unmanned aerial vehicle autonomous aerial refueling system based on infrared vision sensor

Science.gov (United States)

Chen, Shanjun; Duan, Haibin; Deng, Yimin; Li, Cong; Zhao, Guozhi; Xu, Yan

2017-12-01

Autonomous aerial refueling is a significant technology that can significantly extend the endurance of unmanned aerial vehicles. A reliable method that can accurately estimate the position and attitude of the probe relative to the drogue is the key to such a capability. A drogue pose estimation method based on infrared vision sensor is introduced with the general goal of yielding an accurate and reliable drogue state estimate. First, by employing direct least squares ellipse fitting and convex hull in OpenCV, a feature point matching and interference point elimination method is proposed. In addition, considering the conditions that some infrared LEDs are damaged or occluded, a missing point estimation method based on perspective transformation and affine transformation is designed. Finally, an accurate and robust pose estimation algorithm improved by the runner-root algorithm is proposed. The feasibility of the designed visual measurement system is demonstrated by flight test, and the results indicate that our proposed method enables precise and reliable pose estimation of the probe relative to the drogue, even in some poor conditions.

Cracked rocks with positive and negative Poisson's ratio: real-crack properties extracted from pressure dependence of elastic-wave velocities

Science.gov (United States)

Zaitsev, Vladimir Y.; Radostin, Andrey V.; Dyskin, Arcady V.; Pasternak, Elena

2017-04-01

We report results of analysis of literature data on P- and S-wave velocities of rocks subjected to variable hydrostatic pressure. Out of about 90 examined samples, in more than 40% of the samples the reconstructed Poisson's ratios are negative for lowest confining pressure with gradual transition to the conventional positive values at higher pressure. The portion of rocks exhibiting negative Poisson's ratio appeared to be unexpectedly high. To understand the mechanism of negative Poisson's ratio, pressure dependences of P- and S-wave velocities were analyzed using the effective medium model in which the reduction in the elastic moduli due to cracks is described in terms of compliances with respect to shear and normal loading that are imparted to the rock by the presence of cracks. This is in contrast to widely used descriptions of effective cracked medium based on a specific crack model (e.g., penny-shape crack) in which the ratio between normal and shear compliances of such a crack is strictly predetermined. The analysis of pressure-dependences of the elastic wave velocities makes it possible to reveal the ratio between pure normal and shear compliances (called q-ratio below) for real defects and quantify their integral content in the rock. The examination performed demonstrates that a significant portion (over 50%) of cracks exhibit q-ratio several times higher than that assumed for the conventional penny-shape cracks. This leads to faster reduction of the Poisson's ratio with increasing the crack concentration. Samples with negative Poisson's ratio are characterized by elevated q-ratio and simultaneously crack concentration. Our results clearly indicate that the traditional crack model is not adequate for a significant portion of rocks and that the interaction between the opposite crack faces leading to domination of the normal compliance and reduced shear displacement discontinuity can play an important role in the mechanical behavior of rocks.

Results of verification and investigation of wind velocity field forecast. Verification of wind velocity field forecast model

International Nuclear Information System (INIS)

Ogawa, Takeshi; Kayano, Mitsunaga; Kikuchi, Hideo; Abe, Takeo; Saga, Kyoji

1995-01-01

In Environmental Radioactivity Research Institute, the verification and investigation of the wind velocity field forecast model 'EXPRESS-1' have been carried out since 1991. In fiscal year 1994, as the general analysis, the validity of weather observation data, the local features of wind field, and the validity of the positions of monitoring stations were investigated. The EXPRESS which adopted 500 m mesh so far was improved to 250 m mesh, and the heightening of forecast accuracy was examined, and the comparison with another wind velocity field forecast model 'SPEEDI' was carried out. As the results, there are the places where the correlation with other points of measurement is high and low, and it was found that for the forecast of wind velocity field, by excluding the data of the points with low correlation or installing simplified observation stations to take their data in, the forecast accuracy is improved. The outline of the investigation, the general analysis of weather observation data and the improvements of wind velocity field forecast model and forecast accuracy are reported. (K.I.)

Patch near field acoustic holography based on particle velocity measurements

DEFF Research Database (Denmark)

Zhang, Yong-Bin; Jacobsen, Finn; Bi, Chuan-Xing

2009-01-01

Patch near field acoustic holography (PNAH) based on sound pressure measurements makes it possible to reconstruct the source field near a source by measuring the sound pressure at positions on a surface. that is comparable in size to the source region of concern. Particle velocity is an alternative...... examines the use of particle velocity as the input of PNAH. Because the particle velocity decays faster toward the edges of the measurement aperture than the pressure does and because the wave number ratio that enters into the inverse propagator from pressure to velocity amplifies high spatial frequencies...

Isotropic Optical Mouse Placement for Mobile Robot Velocity Estimation

Directory of Open Access Journals (Sweden)

Sungbok Kim

2014-06-01

Full Text Available This paper presents the isotropic placement of multiple optical mice for the velocity estimation of a mobile robot. It is assumed that there can be positional restriction on the installation of optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an array of optical mice is obtained and the resulting Jacobian matrix is analysed symbolically. Second, the isotropic, anisotropic and singular optical mouse placements are identified, along with the corresponding characteristic lengths. Third, the least squares mobile robot velocity estimation from the noisy optical mouse velocity measurements is discussed. Finally, simulation results for several different placements of three optical mice are given.

Virtual velocity loop based on MEMS accelerometers for optical stabilization control system

Science.gov (United States)

Ren, Wei; Deng, Chao; Mao, Yao; Ren, Ge

2017-08-01

In the optical stabilization control system (OSCS) control system based on a charge-coupled device (CCD), stabilization performance of the line-of-sight is severely limited by the mechanical resonance and the low sampling rate of the CCD. An approach to improve the stabilization performance of the OSCS control system with load restriction based on three loops, including an acceleration loop, a virtual velocity loop, and a position loop, by using MEMS accelerometers and a CCD is proposed. The velocity signal is obtained by accelerators instead of gyro sensors. Its advantages are low power, low cost, small size, and wide measuring range. A detailed analysis is provided to show how to design the virtual velocity loop and correct virtual velocity loop drift. Experimental results show that the proposed multiloop feedback control method with virtual velocity loop in which the disturbance suppression performance is better than that of the dual loop control with only an acceleration loop and a position loop at low frequency.

Influence of velocity on variability in gait kinematics: implications for recognition in forensic science.

Science.gov (United States)

Yang, Sylvia X M; Larsen, Peter K; Alkjaer, Tine; Lynnerup, Niels; Simonsen, Erik B

2014-09-01

Closed circuit television (CCTV) footage is often available from crime scenes and may be used to compare perpetrators with suspects. Usually, the footage comprises incomplete gait cycles at different velocities, making gait pattern identification from crimes difficult. This study investigated the concurrence of joint angles throughout a gait cycle at three different velocities (3.0, 4.5, 6.0 km/h). Six datasets at each velocity were collected from 16 men. A variability range VR throughout the gait cycle at each velocity for each joint angle for each person was calculated. The joint angles at each velocity were compared pairwise, and whenever this showed values within the VR of this velocity, the case was positive. By adding the positives throughout the gait cycle, phases with high and low concurrences were located; peak concurrence was observed at mid-stance phase. Striving for the same velocity for the suspect and perpetrator is recommended. © 2014 American Academy of Forensic Sciences.

Ultra-wideband pose detection system for boom-type roadheader based on Caffery transform and Taylor series expansion

Science.gov (United States)

Fu, Shichen; Li, Yiming; Zhang, Minjun; Zong, Kai; Cheng, Long; Wu, Miao

2018-01-01

To realize unmanned pose detection of a coalmine boom-type roadheader, an ultra-wideband (UWB) pose detection system (UPDS) for a roadheader is designed, which consists of four UWB positioning base stations and three roadheader positioning nodes. The positioning base stations are used in turn to locate the positioning nodes of the roadheader fuselage. Using 12 sets of distance measurement information, a time-of-arrival (TOA) positioning model is established to calculate the 3D coordinates of three positioning nodes of the roadheader fuselage, and the three attitude angles (heading, pitch, and roll angles) of the roadheader fuselage are solved. A range accuracy experiment of a UWB P440 module was carried out in a narrow and closed tunnel, and the experiment data show that the mean error and standard deviation of the module can reach below 2 cm. Based on the TOA positioning model of the UPDS, we propose a fusion-positioning algorithm based on a Caffery transform and Taylor series expansion (CTFPA). We derived the complete calculation process, designed a flowchart, and carried out a simulation of CTFPA in MATLAB, comparing 1000 simulated positioning nodes of CTFPA and the Caffery positioning algorithm (CPA) for a 95 m long tunnel. The positioning error field of the tunnel was established, and the influence of the spatial variation on the positioning accuracy of CPA and CTFPA was analysed. The simulation results show that, compared with CPA, the positioning accuracy of CTFPA is clearly improved, and the accuracy of each axis can reach more than 5 mm. The accuracy of the X-axis is higher than that of the Y- and Z-axes. In section X-Y of the tunnel, the root mean square error (RMSE) contours of CTFPA are clear and orderly, and with an increase in the measuring distance, RMSE increases linearly. In section X-Z, the RMSE contours are concentric circles, and the variation ratio is nonlinear.

Driver head pose tracking with thermal camera

Science.gov (United States)

Bole, S.; Fournier, C.; Lavergne, C.; Druart, G.; Lépine, T.

2016-09-01

Head pose can be seen as a coarse estimation of gaze direction. In automotive industry, knowledge about gaze direction could optimize Human-Machine Interface (HMI) and Advanced Driver Assistance Systems (ADAS). Pose estimation systems are often based on camera when applications have to be contactless. In this paper, we explore uncooled thermal imagery (8-14μm) for its intrinsic night vision capabilities and for its invariance versus lighting variations. Two methods are implemented and compared, both are aided by a 3D model of the head. The 3D model, mapped with thermal texture, allows to synthesize a base of 2D projected models, differently oriented and labeled in yaw and pitch. The first method is based on keypoints. Keypoints of models are matched with those of the query image. These sets of matchings, aided with the 3D shape of the model, allow to estimate 3D pose. The second method is a global appearance approach. Among all 2D models of the base, algorithm searches the one which is the closest to the query image thanks to a weighted least squares difference.

A Support System for the Electric Appliance Control Using Pose Recognition

Science.gov (United States)

Kawano, Takuya; Yamamoto, Kazuhiko; Kato, Kunihito; Hongo, Hitoshi

In this paper, we propose an electric appliance control support system for aged and bedridden people using pose recognition. We proposed a pose recognition system that distinguishes between seven poses of the user on the bed. First, the face and arm regions of the user are detected by using the skin color. Our system focuses a recognition region surrounding the face region. Next, the higher order local autocorrelation features within the region are extracted. The linear discriminant analysis creates the coefficient matrix that can optimally distinguish among training data from the seven poses. Our algorithm can recognize the seven poses even if the subject wears different clothes and slightly shifts or slants on the bed. From the experimental results, our system achieved an accuracy rate of over 99 %. Then, we show that it possibles to construct one of a user-friendly system.

Flexible Polyhedral Surfaces with Two Flat Poses

Directory of Open Access Journals (Sweden)

Hellmuth Stachel

2015-05-01

Full Text Available We present three types of polyhedral surfaces, which are continuously flexible and have not only an initial pose, where all faces are coplanar, but pass during their self-motion through another pose with coplanar faces (“flat pose”. These surfaces are examples of so-called rigid origami, since we only admit exact flexions, i.e., each face remains rigid during the motion; only the dihedral angles vary. We analyze the geometry behind Miura-ori and address Kokotsakis’ example of a flexible tessellation with the particular case of a cyclic quadrangle. Finally, we recall Bricard’s octahedra of Type 3 and their relation to strophoids.

Wave velocity characteristic for Kenaf natural fibre under impact damage

Science.gov (United States)

Zaleha, M.; Mahzan, S.; Fitri, Muhamad; Kamarudin, K. A.; Eliza, Y.; Tobi, A. L. Mohd

2017-01-01

This paper aims to determining the wave velocity characteristics for kenaf fibre reinforced composite (KFC) and it includes both experimental and simulation results. Lead zirconate titanate (PZT) sensor were proposed to be positioned to corresponding locations on the panel. In order to demonstrate the wave velocity, an impacts was introduced onto the panel. It is based on a classical sensor triangulation methodology, combines with experimental strain wave velocity analysis. Then the simulation was designed to replicate panel used in the experimental impacts test. This simulation was carried out using ABAQUS. It was shown that the wave velocity propagates faster in the finite element simulation. Although the experimental strain wave velocity and finite element simulation results do not match exactly, the shape of both waves is similar.

Ultrasound systems for blood velocity estimation

DEFF Research Database (Denmark)

Jensen, Jørgen Arendt

1998-01-01

Medical ultrasound scanners can be used both for displayinggray-scale images of the anatomy and for visualizing theblood flow dynamically in the body.The systems can interrogate the flow at a single position in the bodyand there find the velocity distribution over time. They can also show adynamic...

Coupled multiview autoencoders with locality sensitivity for three-dimensional human pose estimation

Science.gov (United States)

Yu, Jialin; Sun, Jifeng; Luo, Shasha; Duan, Bichao

2017-09-01

Estimating three-dimensional (3D) human poses from a single camera is usually implemented by searching pose candidates with image descriptors. Existing methods usually suppose that the mapping from feature space to pose space is linear, but in fact, their mapping relationship is highly nonlinear, which heavily degrades the performance of 3D pose estimation. We propose a method to recover 3D pose from a silhouette image. It is based on the multiview feature embedding (MFE) and the locality-sensitive autoencoders (LSAEs). On the one hand, we first depict the manifold regularized sparse low-rank approximation for MFE and then the input image is characterized by a fused feature descriptor. On the other hand, both the fused feature and its corresponding 3D pose are separately encoded by LSAEs. A two-layer back-propagation neural network is trained by parameter fine-tuning and then used to map the encoded 2D features to encoded 3D poses. Our LSAE ensures a good preservation of the local topology of data points. Experimental results demonstrate the effectiveness of our proposed method.

Data adaptive estimation of transversal blood flow velocities

DEFF Research Database (Denmark)

Pirnia, E.; Jakobsson, A.; Gudmundson, E.

2014-01-01

the transversal blood flow. In this paper, we propose a novel data-adaptive blood flow estimator exploiting this modulation scheme. Using realistic Field II simulations, the proposed estimator is shown to achieve a notable performance improvement as compared to current state-of-the-art techniques.......The examination of blood flow inside the body may yield important information about vascular anomalies, such as possible indications of, for example, stenosis. Current Medical ultrasound systems suffer from only allowing for measuring the blood flow velocity along the direction of irradiation......, posing natural difficulties due to the complex behaviour of blood flow, and due to the natural orientation of most blood vessels. Recently, a transversal modulation scheme was introduced to induce also an oscillation along the transversal direction, thereby allowing for the measurement of also...

Inverse and Ill-posed Problems Theory and Applications

CERN Document Server

Kabanikhin, S I

2011-01-01

The text demonstrates the methods for proving the existence (if et all) and finding of inverse and ill-posed problems solutions in linear algebra, integral and operator equations, integral geometry, spectral inverse problems, and inverse scattering problems. It is given comprehensive background material for linear ill-posed problems and for coefficient inverse problems for hyperbolic, parabolic, and elliptic equations. A lot of examples for inverse problems from physics, geophysics, biology, medicine, and other areas of application of mathematics are included.

The Dynamic Features of Lip Corners in Genuine and Posed Smiles

Directory of Open Access Journals (Sweden)

Hui Guo

2018-02-01

Full Text Available The smile is a frequently expressed facial expression that typically conveys a positive emotional state and friendly intent. However, human beings have also learned how to fake smiles, typically by controlling the mouth to provide a genuine-looking expression. This is often accompanied by inaccuracies that can allow others to determine that the smile is false. Mouth movement is one of the most striking features of the smile, yet our understanding of its dynamic elements is still limited. The present study analyzes the dynamic features of lip corners, and considers how they differ between genuine and posed smiles. Employing computer vision techniques, we investigated elements such as the duration, intensity, speed, symmetry of the lip corners, and certain irregularities in genuine and posed smiles obtained from the UvA-NEMO Smile Database. After utilizing the facial analysis tool OpenFace, we further propose a new approach to segmenting the onset, apex, and offset phases of smiles, as well as a means of measuring irregularities and symmetry in facial expressions. We extracted these features according to 2D and 3D coordinates, and conducted an analysis. The results reveal that genuine smiles have higher values for onset, offset, apex, and total durations, as well as offset displacement, and a variable we termed Irregularity-b (the SD of the apex phase than do posed smiles. Conversely, values tended to be lower for onset and offset Speeds, and Irregularity-a (the rate of peaks, Symmetry-a (the correlation between left and right facial movements, and Symmetry-d (differences in onset frame numbers between the left and right faces. The findings from the present study have been compared to those of previous research, and certain speculations are made.

Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot

Directory of Open Access Journals (Sweden)

Yicheng Liu

2016-01-01

Full Text Available In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm.

Measuring the Alfvénic nature of the interstellar medium: Velocity anisotropy revisited

International Nuclear Information System (INIS)

Burkhart, Blakesley; Lazarian, A.; Leão, I. C.; De Medeiros, J. R.; Esquivel, A.

2014-01-01

The dynamics of the interstellar medium (ISM) are strongly affected by turbulence, which shows increased anisotropy in the presence of a magnetic field. We expand upon the Esquivel and Lazarian method to estimate the Alfvén Mach number using the structure function anisotropy in velocity centroid data from Position-Position-Velocity maps. We utilize three-dimensional magnetohydrodynamic simulations of fully developed turbulence, with a large range of sonic and Alfvénic Mach numbers, to produce synthetic observations of velocity centroids with observational characteristics such as thermal broadening, cloud boundaries, noise, and radiative transfer effects of carbon monoxide. In addition, we investigate how the resulting anisotropy-Alfvén Mach number dependency found in Esquivel and Lazarian might change when taking the second moment of the Position-Position-Velocity cube or when using different expressions to calculate the velocity centroids. We find that the degree of anisotropy is related primarily to the magnetic field strength (i.e., Alfvén Mach number) and the line-of-sight orientation, with a secondary effect on sonic Mach number. If the line of sight is parallel to up to ≈45 deg off of the mean field direction, the velocity centroid anisotropy is not prominent enough to distinguish different Alfvénic regimes. The observed anisotropy is not strongly affected by including radiative transfer, although future studies should include additional tests for opacity effects. These results open up the possibility of studying the magnetic nature of the ISM using statistical methods in addition to existing observational techniques.

Adaptive nonlinear robust relative pose control of spacecraft autonomous rendezvous and proximity operations.

Science.gov (United States)

Sun, Liang; Huo, Wei; Jiao, Zongxia

2017-03-01

This paper studies relative pose control for a rigid spacecraft with parametric uncertainties approaching to an unknown tumbling target in disturbed space environment. State feedback controllers for relative translation and relative rotation are designed in an adaptive nonlinear robust control framework. The element-wise and norm-wise adaptive laws are utilized to compensate the parametric uncertainties of chaser and target spacecraft, respectively. External disturbances acting on two spacecraft are treated as a lumped and bounded perturbation input for system. To achieve the prescribed disturbance attenuation performance index, feedback gains of controllers are designed by solving linear matrix inequality problems so that lumped disturbance attenuation with respect to the controlled output is ensured in the L 2 -gain sense. Moreover, in the absence of lumped disturbance input, asymptotical convergence of relative pose are proved by using the Lyapunov method. Numerical simulations are performed to show that position tracking and attitude synchronization are accomplished in spite of the presence of couplings and uncertainties. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Determining the Performances of Pre-Service Primary School Teachers in Problem Posing Situations

Science.gov (United States)

Kilic, Cigdem

2013-01-01

This study examined the problem posing strategies of pre-service primary school teachers in different problem posing situations (PPSs) and analysed the issues they encounter while posing problems. A problem posing task consisting of six PPSs (two free, two structured, and two semi-structured situations) was delivered to 40 participants.…

Remote determination of the velocity index and mean streamwise velocity profiles

Science.gov (United States)

Johnson, E. D.; Cowen, E. A.

2017-09-01

When determining volumetric discharge from surface measurements of currents in a river or open channel, the velocity index is typically used to convert surface velocities to depth-averaged velocities. The velocity index is given by, k=Ub/Usurf, where Ub is the depth-averaged velocity and Usurf is the local surface velocity. The USGS (United States Geological Survey) standard value for this coefficient, k = 0.85, was determined from a series of laboratory experiments and has been widely used in the field and in laboratory measurements of volumetric discharge despite evidence that the velocity index is site-specific. Numerous studies have documented that the velocity index varies with Reynolds number, flow depth, and relative bed roughness and with the presence of secondary flows. A remote method of determining depth-averaged velocity and hence the velocity index is developed here. The technique leverages the findings of Johnson and Cowen (2017) and permits remote determination of the velocity power-law exponent thereby, enabling remote prediction of the vertical structure of the mean streamwise velocity, the depth-averaged velocity, and the velocity index.

Head Pose Estimation Using Multilinear Subspace Analysis for Robot Human Awareness

Science.gov (United States)

Ivanov, Tonislav; Matthies, Larry; Vasilescu, M. Alex O.

2009-01-01

Mobile robots, operating in unconstrained indoor and outdoor environments, would benefit in many ways from perception of the human awareness around them. Knowledge of people's head pose and gaze directions would enable the robot to deduce which people are aware of the its presence, and to predict future motions of the people for better path planning. To make such inferences, requires estimating head pose on facial images that are combination of multiple varying factors, such as identity, appearance, head pose, and illumination. By applying multilinear algebra, the algebra of higher-order tensors, we can separate these factors and estimate head pose regardless of subject's identity or image conditions. Furthermore, we can automatically handle uncertainty in the size of the face and its location. We demonstrate a pipeline of on-the-move detection of pedestrians with a robot stereo vision system, segmentation of the head, and head pose estimation in cluttered urban street scenes.

Advances in constant-velocity Moessbauer instrumentation

International Nuclear Information System (INIS)

Veiga, A.; Martinez, N.; Zelis, P. Mendoza; Pasquevich, G. A.; Sanchez, F. H.

2006-01-01

A prototype of a programmable constant-velocity scaler is presented. This instrument allows the acquisition of partial Moessbauer spectra in selected energy regions using standard drivers and transducers. It can be fully operated by a remote application, thus data acquisition can be automated. The instrument consists of a programmable counter and a constant-velocity reference. The reference waveform generator is amplitude modulated with 13-bit resolution, and is programmable in a wide range of frequencies and waveforms in order to optimize the performance of the transducer. The counter is compatible with most standard SCA, and is configured as a rate-meter that provides counts per selectable time slice at the programmed velocity. As a demonstration of the instrument applications, a partial Moessbauer spectrum of a natural iron foil was taken. Only positive energies were studied in 512 channels, accumulating 20 s per channel. A line width of 0.20 mm/s was achieved, performing with an efficiency of 80%.

Pose-invariant face recognition using Markov random fields.

Science.gov (United States)

Ho, Huy Tho; Chellappa, Rama

2013-04-01

One of the key challenges for current face recognition techniques is how to handle pose variations between the probe and gallery face images. In this paper, we present a method for reconstructing the virtual frontal view from a given nonfrontal face image using Markov random fields (MRFs) and an efficient variant of the belief propagation algorithm. In the proposed approach, the input face image is divided into a grid of overlapping patches, and a globally optimal set of local warps is estimated to synthesize the patches at the frontal view. A set of possible warps for each patch is obtained by aligning it with images from a training database of frontal faces. The alignments are performed efficiently in the Fourier domain using an extension of the Lucas-Kanade algorithm that can handle illumination variations. The problem of finding the optimal warps is then formulated as a discrete labeling problem using an MRF. The reconstructed frontal face image can then be used with any face recognition technique. The two main advantages of our method are that it does not require manually selected facial landmarks or head pose estimation. In order to improve the performance of our pose normalization method in face recognition, we also present an algorithm for classifying whether a given face image is at a frontal or nonfrontal pose. Experimental results on different datasets are presented to demonstrate the effectiveness of the proposed approach.

Pose Estimation and Adaptive Robot Behaviour for Human-Robot Interaction

DEFF Research Database (Denmark)

Svenstrup, Mikael; Hansen, Søren Tranberg; Andersen, Hans Jørgen

2009-01-01

Abstract—This paper introduces a new method to determine a person’s pose based on laser range measurements. Such estimates are typically a prerequisite for any human-aware robot navigation, which is the basis for effective and timeextended interaction between a mobile robot and a human. The robot......’s pose. The resulting pose estimates are used to identify humans who wish to be approached and interacted with. The interaction motion of the robot is based on adaptive potential functions centered around the person that respect the persons social spaces. The method is tested in experiments...

Locating binding poses in protein-ligand systems using reconnaissance metadynamics

Science.gov (United States)

Söderhjelm, Pär; Tribello, Gareth A.; Parrinello, Michele

2012-01-01

A molecular dynamics-based protocol is proposed for finding and scoring protein-ligand binding poses. This protocol uses the recently developed reconnaissance metadynamics method, which employs a self-learning algorithm to construct a bias that pushes the system away from the kinetic traps where it would otherwise remain. The exploration of phase space with this algorithm is shown to be roughly six to eight times faster than unbiased molecular dynamics and is only limited by the time taken to diffuse about the surface of the protein. We apply this method to the well-studied trypsin–benzamidine system and show that we are able to refind all the poses obtained from a reference EADock blind docking calculation. These poses can be scored based on the length of time the system remains trapped in the pose. Alternatively, one can perform dimensionality reduction on the output trajectory and obtain a map of phase space that can be used in more expensive free-energy calculations. PMID:22440749

Mathematical Thinking and Creativity through Mathematical Problem Posing and Solving

Directory of Open Access Journals (Sweden)

María F. Ayllón

2016-04-01

Full Text Available This work shows the relationship between the development of mathematical thinking and creativity with mathematical problem posing and solving. Creativity and mathematics are disciplines that do not usually appear together. Both concepts constitute complex processes sharing elements, such as fluency (number of ideas, flexibility (range of ideas, novelty (unique idea and elaboration (idea development. These factors contribute, among others, to the fact that schoolchildren are competent in mathematics. The problem solving and posing are a very powerful evaluation tool that shows the mathematical reasoning and creative level of a person. Creativity is part of the mathematics education and is a necessary ingredient to perform mathematical assignments. This contribution presents some important research works about problem posing and solving related to the development of mathematical knowledge and creativity. To that end, it is based on various beliefs reflected in the literature with respect to notions of creativity, problem solving and posing.

Leading-Edge Velocities and Lifted Methane Jet Flame Stability

Directory of Open Access Journals (Sweden)

W. Wang

2010-01-01

Full Text Available Current interest exists in understanding reaction-zone dynamics and mechanisms with respect to how they counterpropagate against incoming reactants. Images of flame position and flow-field morphology are presented from flame chemiluminescence and particle image velocimetry (PIV measurements. In the present study, PIV experiments were carried out to measure the methane jet lifted-flame flow-field velocities in the vicinity of the flame leading edge. Specifically, velocity fields within the high-temperature zone were examined in detail, which complements previous studies, whose prime focus is the flow-field upstream of the high-temperature boundary. PIV data is used not only to determine the velocities, but, along with chemiluminescence images, to also indicate the approximate location of the reaction zone (further supported by/through the leading-edge flame velocity distributions. The velocity results indirectly support the concept that the flame is anchored primarily through the mechanism of partially premixed flame propagation.

Investigation of Problem-Solving and Problem-Posing Abilities of Seventh-Grade Students

Science.gov (United States)

Arikan, Elif Esra; Ünal, Hasan

2015-01-01

This study aims to examine the effect of multiple problem-solving skills on the problem-posing abilities of gifted and non-gifted students and to assess whether the possession of such skills can predict giftedness or affect problem-posing abilities. Participants' metaphorical images of problem posing were also explored. Participants were 20 gifted…

Development of an optimal velocity selection method with velocity obstacle

Energy Technology Data Exchange (ETDEWEB)

Kim, Min Geuk; Oh, Jun Ho [KAIST, Daejeon (Korea, Republic of)

2015-08-15

The Velocity obstacle (VO) method is one of the most well-known methods for local path planning, allowing consideration of dynamic obstacles and unexpected obstacles. Typical VO methods separate a velocity map into a collision area and a collision-free area. A robot can avoid collisions by selecting its velocity from within the collision-free area. However, if there are numerous obstacles near a robot, the robot will have very few velocity candidates. In this paper, a method for choosing optimal velocity components using the concept of pass-time and vertical clearance is proposed for the efficient movement of a robot. The pass-time is the time required for a robot to pass by an obstacle. By generating a latticized available velocity map for a robot, each velocity component can be evaluated using a cost function that considers the pass-time and other aspects. From the output of the cost function, even a velocity component that will cause a collision in the future can be chosen as a final velocity if the pass-time is sufficiently long enough.

Preparatory power posing affects nonverbal presence and job interview performance.

Science.gov (United States)

Cuddy, Amy J C; Wilmuth, Caroline A; Yap, Andy J; Carney, Dana R

2015-07-01

The authors tested whether engaging in expansive (vs. contractive) "power poses" before a stressful job interview--preparatory power posing--would enhance performance during the interview. Participants adopted high-power (i.e., expansive, open) poses or low-power (i.e., contractive, closed) poses, and then prepared and delivered a speech to 2 evaluators as part of a mock job interview. All interview speeches were videotaped and coded for overall performance and hireability and for 2 potential mediators: verbal content (e.g., structure, content) and nonverbal presence (e.g., captivating, enthusiastic). As predicted, those who prepared for the job interview with high- (vs. low-) power poses performed better and were more likely to be chosen for hire; this relation was mediated by nonverbal presence, but not by verbal content. Although previous research has focused on how a nonverbal behavior that is enacted during interactions and observed by perceivers affects how those perceivers evaluate and respond to the actor, this experiment focused on how a nonverbal behavior that is enacted before the interaction and unobserved by perceivers affects the actor's performance, which, in turn, affects how perceivers evaluate and respond to the actor. This experiment reveals a theoretically novel and practically informative result that demonstrates the causal relation between preparatory nonverbal behavior and subsequent performance and outcomes. (c) 2015 APA, all rights reserved).

Consistently Showing Your Best Side? Intra-individual Consistency in #Selfie Pose Orientation

Science.gov (United States)

Lindell, Annukka K.

2017-01-01

Painted and photographic portraits of others show an asymmetric bias: people favor their left cheek. Both experimental and database studies confirm that the left cheek bias extends to selfies. To date all such selfie studies have been cross-sectional; whether individual selfie-takers tend to consistently favor the same pose orientation, or switch between multiple poses, remains to be determined. The present study thus examined intra-individual consistency in selfie pose orientations. Two hundred selfie-taking participants (100 male and 100 female) were identified by searching #selfie on Instagram. The most recent 10 single-subject selfies for the each of the participants were selected and coded for type of selfie (normal; mirror) and pose orientation (left, midline, right), resulting in a sample of 2000 selfies. Results indicated that selfie-takers do tend to consistently adopt a preferred pose orientation (α = 0.72), with more participants showing an overall left cheek bias (41%) than would be expected by chance (overall right cheek bias = 31.5%; overall midline bias = 19.5%; no overall bias = 8%). Logistic regression modellng, controlling for the repeated measure of participant identity, indicated that sex did not affect pose orientation. However, selfie type proved a significant predictor when comparing left and right cheek poses, with a stronger left cheek bias for mirror than normal selfies. Overall, these novel findings indicate that selfie-takers show intra-individual consistency in pose orientation, and in addition, replicate the previously reported left cheek bias for selfies and other types of portrait, confirming that the left cheek bias also presents within individuals’ selfie corpora. PMID:28270790

Hearthfire design base for the high current low velocity rf linac

International Nuclear Information System (INIS)

Burke, R.J.; Khoe, T.K.; Kustom, R.L.; Martin, R.L.; Moretti, A.

1977-01-01

The particle beam parameters needed for inertial fusion can be achieved with conventional accelerator technology if heavy ion machines attain the level of performance of the most intense high energy proton machines. Many of the problems posed by this goal pertain to the low energy portions of the accelerator system. In particular, the implied particle current in the rf linac is 10 3 --10 4 times the values achieved with existing heavy ion machines. Much of this discrepancy is simply attributable to the great differences between the design considerations relevant to accelerators for fusion and those which have determined the performance of the existing machines. The basic concept chosen at Argonne National Laboratory is cavities containing single drift tubes mounted on lambda/4 supports. Such structures pose the least problem for the beam transport system, and one cavity is placed between adjacent quadrupole magnets. The average voltage gain of the first cells of the low velocity section is moderate; and, although probably acceptable and improved by the end of the 10 MV section, the low initial gain adds to the motivation provided by the transport problem to increase the preinjector voltage substantially above 750 kV

A Simple and Robust Sliding Mode Velocity Observer for Moving Coil Actuators in Digital Hydraulic Valves

DEFF Research Database (Denmark)

Nørgård, Christian; Schmidt, Lasse; Bech, Michael Møller

2016-01-01

This paper focuses on estimating the velocity and position of fast switching digital hydraulic valves actuated by electromagnetic moving coil actuators, based on measurements of the coil current and voltage. The velocity is estimated by a simple first-order sliding mode observer architecture...... and the position is estimated by integrating the estimated velocity. The binary operation of digi-valves enables limiting and resetting the position estimate since the moving member is switched between the mechanical end-stops of the valve. This enables accurate tracking since drifting effects due to measurement...... noise and integration of errors in the velocity estimate may be circumvented. The proposed observer architecture is presented along with stability proofs and initial experimental results. To reveal the optimal observer performance, an optimization of the observer parameters is carried out. Subsequently...

Generation of net sediment transport by velocity skewness in oscillatory sheet flow

Science.gov (United States)

Chen, Xin; Li, Yong; Chen, Genfa; Wang, Fujun; Tang, Xuelin

2018-01-01

This study utilizes a qualitative approach and a two-phase numerical model to investigate net sediment transport caused by velocity skewness beneath oscillatory sheet flow and current. The qualitative approach is derived based on the pseudo-laminar approximation of boundary layer velocity and exponential approximation of concentration. The two-phase model can obtain well the instantaneous erosion depth, sediment flux, boundary layer thickness, and sediment transport rate. It can especially illustrate the difference between positive and negative flow stages caused by velocity skewness, which is considerably important in determining the net boundary layer flow and sediment transport direction. The two-phase model also explains the effect of sediment diameter and phase-lag to sediment transport by comparing the instantaneous-type formulas to better illustrate velocity skewness effect. In previous studies about sheet flow transport in pure velocity-skewed flows, net sediment transport is only attributed to the phase-lag effect. In the present study with the qualitative approach and two-phase model, phase-lag effect is shown important but not sufficient for the net sediment transport beneath pure velocity-skewed flow and current, while the asymmetric wave boundary layer development between positive and negative flow stages also contributes to the sediment transport.

Hip joint kinetics in the table tennis topspin forehand: relationship to racket velocity.

Science.gov (United States)

Iino, Yoichi

2018-04-01

The purpose of this study was to determine hip joint kinetics during a table tennis topspin forehand, and to investigate the relationship between the relevant kinematic and kinetic variables and the racket horizontal and vertical velocities at ball impact. Eighteen male advanced table tennis players hit cross-court topspin forehands against backspin balls. The hip joint torque and force components around the pelvis coordinate system were determined using inverse dynamics. Furthermore, the work done on the pelvis by these components was also determined. The peak pelvis axial rotation velocity and the work done by the playing side hip pelvis axial rotation torque were positively related to the racket horizontal velocity at impact. The sum of the work done on the pelvis by the backward tilt torques and the upward joint forces was positively related to the racket vertical velocity at impact. The results suggest that the playing side hip pelvis axial rotation torque exertion is important for acquiring a high racket horizontal velocity at impact. The pelvis backward tilt torques and upward joint forces at both hip joints collectively contribute to the generation of the racket vertical velocity, and the mechanism for acquiring the vertical velocity may vary among players.

MODEL PEMBELAJARAN PROBLEM POSING DENGAN PENDEKATAN SAINTIFIK UNTUK MENINGKATKAN KEMAMPUAN PEMECAHAN MASALAH

Directory of Open Access Journals (Sweden)

Adi Purnomo

2015-08-01

lesson plan is effective: (1 completeness clasical is over 75%, class average is over KKM; (2 the ability of students’ problem solving that the learning use problem posing with secientific approach better than students in conventional learning; (3 scientific skill hardwork and character independencet positively to the ability of problem solving; (4 there is improvement ability of students’ problem solving and improvement in problem solving skills based on those solo taxonomy.

Cultural adaptations to the differential threats posed by hot versus cold climates.

Science.gov (United States)

Murray, Damian R

2013-10-01

Hot and cold climates have posed differential threats to human survival throughout history. Cold temperatures can pose direct threats to survival in themselves, whereas hot temperatures may pose threats indirectly through higher prevalence of infectious disease. These differential threats yield convergent predictions for the relationship between more demanding climates and freedom of expression, but divergent predictions for freedom from discrimination.

The relative pose estimation of aircraft based on contour model

Science.gov (United States)

Fu, Tai; Sun, Xiangyi

2017-02-01

This paper proposes a relative pose estimation approach based on object contour model. The first step is to obtain a two-dimensional (2D) projection of three-dimensional (3D)-model-based target, which will be divided into 40 forms by clustering and LDA analysis. Then we proceed by extracting the target contour in each image and computing their Pseudo-Zernike Moments (PZM), thus a model library is constructed in an offline mode. Next, we spot a projection contour that resembles the target silhouette most in the present image from the model library with reference of PZM; then similarity transformation parameters are generated as the shape context is applied to match the silhouette sampling location, from which the identification parameters of target can be further derived. Identification parameters are converted to relative pose parameters, in the premise that these values are the initial result calculated via iterative refinement algorithm, as the relative pose parameter is in the neighborhood of actual ones. At last, Distance Image Iterative Least Squares (DI-ILS) is employed to acquire the ultimate relative pose parameters.

Problem Posing with Realistic Mathematics Education Approach in Geometry Learning

Science.gov (United States)

Mahendra, R.; Slamet, I.; Budiyono

2017-09-01

One of the difficulties of students in the learning of geometry is on the subject of plane that requires students to understand the abstract matter. The aim of this research is to determine the effect of Problem Posing learning model with Realistic Mathematics Education Approach in geometry learning. This quasi experimental research was conducted in one of the junior high schools in Karanganyar, Indonesia. The sample was taken using stratified cluster random sampling technique. The results of this research indicate that the model of Problem Posing learning with Realistic Mathematics Education Approach can improve students’ conceptual understanding significantly in geometry learning especially on plane topics. It is because students on the application of Problem Posing with Realistic Mathematics Education Approach are become to be active in constructing their knowledge, proposing, and problem solving in realistic, so it easier for students to understand concepts and solve the problems. Therefore, the model of Problem Posing learning with Realistic Mathematics Education Approach is appropriately applied in mathematics learning especially on geometry material. Furthermore, the impact can improve student achievement.

Pose and Solve Varignon Converse Problems

Science.gov (United States)

Contreras, José N.

2014-01-01

The activity of posing and solving problems can enrich learners' mathematical experiences because it fosters a spirit of inquisitiveness, cultivates their mathematical curiosity, and deepens their views of what it means to do mathematics. To achieve these goals, a mathematical problem needs to be at the appropriate level of difficulty,…

3D head pose estimation and tracking using particle filtering and ICP algorithm

KAUST Repository

Ben Ghorbel, Mahdi; Baklouti, Malek; Couvet, Serge

2010-01-01

This paper addresses the issue of 3D head pose estimation and tracking. Existing approaches generally need huge database, training procedure, manual initialization or use face feature extraction manually extracted. We propose a framework for estimating the 3D head pose in its fine level and tracking it continuously across multiple Degrees of Freedom (DOF) based on ICP and particle filtering. We propose to approach the problem, using 3D computational techniques, by aligning a face model to the 3D dense estimation computed by a stereo vision method, and propose a particle filter algorithm to refine and track the posteriori estimate of the position of the face. This work comes with two contributions: the first concerns the alignment part where we propose an extended ICP algorithm using an anisotropic scale transformation. The second contribution concerns the tracking part. We propose the use of the particle filtering algorithm and propose to constrain the search space using ICP algorithm in the propagation step. The results show that the system is able to fit and track the head properly, and keeps accurate the results on new individuals without a manual adaptation or training. © Springer-Verlag Berlin Heidelberg 2010.

Asynchronous vehicle pose correction using visual detection of ground features

International Nuclear Information System (INIS)

Harnarinesingh, Randy E S; Syan, Chanan S

2014-01-01

The inherent noise associated with odometry manifests itself as errors in localization for autonomous vehicles. Visual odometry has been previously used in order to supplement classical vehicle odometry. However, visual odometry is limited in its ability to reduce errors in localization for large travel distances that entail the cumulative summing of individual frame-to-frame image errors. In this paper, a novel machine vision approach for tiled surfaces is proposed to address this problem. Tile edges in a laboratory environment are used to define a travel trajectory for the Quansar Qbot (autonomous vehicle) built on the iRobot iRoomba platform with a forward facing camera. Tile intersections are used to enable asynchronous error recovery for vehicle position and orientation. The proposed approach employs real-time image classification and is feasible for error mitigation for large travel distances. The average position error for an 8m travel distance using classical odometry was measured to be 0.28m. However, implementation of the proposed approach resulted in an error of 0.028m. The proposed approach therefore significantly reduces pose estimation error and could be used to supplement existing modalities such as GPS and Laser-based range sensors

Head Pose Estimation on Eyeglasses Using Line Detection and Classification Approach

Science.gov (United States)

Setthawong, Pisal; Vannija, Vajirasak

This paper proposes a unique approach for head pose estimation of subjects with eyeglasses by using a combination of line detection and classification approaches. Head pose estimation is considered as an important non-verbal form of communication and could also be used in the area of Human-Computer Interface. A major improvement of the proposed approach is that it allows estimation of head poses at a high yaw/pitch angle when compared with existing geometric approaches, does not require expensive data preparation and training, and is generally fast when compared with other approaches.

Attribute And-Or Grammar for Joint Parsing of Human Pose, Parts and Attributes.

Science.gov (United States)

Park, Seyoung; Nie, Xiaohan; Zhu, Song-Chun

2017-07-25

This paper presents an attribute and-or grammar (A-AOG) model for jointly inferring human body pose and human attributes in a parse graph with attributes augmented to nodes in the hierarchical representation. In contrast to other popular methods in the current literature that train separate classifiers for poses and individual attributes, our method explicitly represents the decomposition and articulation of body parts, and account for the correlations between poses and attributes. The A-AOG model is an amalgamation of three traditional grammar formulations: (i)Phrase structure grammar representing the hierarchical decomposition of the human body from whole to parts; (ii)Dependency grammar modeling the geometric articulation by a kinematic graph of the body pose; and (iii)Attribute grammar accounting for the compatibility relations between different parts in the hierarchy so that their appearances follow a consistent style. The parse graph outputs human detection, pose estimation, and attribute prediction simultaneously, which are intuitive and interpretable. We conduct experiments on two tasks on two datasets, and experimental results demonstrate the advantage of joint modeling in comparison with computing poses and attributes independently. Furthermore, our model obtains better performance over existing methods for both pose estimation and attribute prediction tasks.

CDDIS_VLBI_products_positions

Data.gov (United States)

National Aeronautics and Space Administration — Station positions and velocity solutions in Software INdependent EXchange (SINEX) format derived from analysis of Very Long Baseline Interferometry (VLBI) data....

Categorization of questions posed before and after inquiry-based learning

Directory of Open Access Journals (Sweden)

Sandra Milena García González

2014-07-01

Full Text Available Posing research questions is the central ability of the scientific thought. This article examines the ability of sixth grade children to pose researchable questions before and after a three months’ work on a didactic sequence based on the inquiry school model. According to their purpose, the questions asked by children, after reading a text, were classified into researchable questions -susceptible to be empirically explored-, questions about a cause, and questions on a piece of data. The results show that the amount and the type of questions the students were able to pose during the intervention changed, from most of questions on data or information, to most of researchable questions, subsequently, the importance of designing teaching approaches to foster this ability was proved.

Pose estimation and tracking of non-cooperative rocket bodies using Time-of-Flight cameras

Science.gov (United States)

Gómez Martínez, Harvey; Giorgi, Gabriele; Eissfeller, Bernd

2017-10-01

This paper presents a methodology for estimating the position and orientation of a rocket body in orbit - the target - undergoing a roto-translational motion, with respect to a chaser spacecraft, whose task is to match the target dynamics for a safe rendezvous. During the rendezvous maneuver the chaser employs a Time-of-Flight camera that acquires a point cloud of 3D coordinates mapping the sensed target surface. Once the system identifies the target, it initializes the chaser-to-target relative position and orientation. After initialization, a tracking procedure enables the system to sense the evolution of the target's pose between frames. The proposed algorithm is evaluated using simulated point clouds, generated with a CAD model of the Cosmos-3M upper stage and the PMD CamCube 3.0 camera specifications.

High-accuracy measurement of ship velocities by DGPS; DGPS ni yoru sensoku keisoku no koseidoka ni tsuite

Energy Technology Data Exchange (ETDEWEB)

Yamaguchi, S; Koterayama, W [Kyushu Univ., Fukuoka (Japan). Research Inst. for Applied Mechanics

1996-04-10

The differential global positioning system (DGPS) can eliminate most of errors in ship velocity measurement by GPS positioning alone. Through two rounds of marine observations by towing an observation robot in summer 1995, the authors attempted high-accuracy measurement of ship velocities by DGPS, and also carried out both positioning by GPS alone and measurement using the bottom track of ADCP (acoustic Doppler current profiler). In this paper, the results obtained by these measurement methods were examined through comparison among them, and the accuracy of the measured ship velocities was considered. In DGPS measurement, both translocation method and interference positioning method were used. ADCP mounted on the observation robot allowed measurement of the velocity of current meter itself by its bottom track in shallow sea areas less than 350m. As the result of these marine observations, it was confirmed that the accuracy equivalent to that of direct measurement by bottom track is possible to be obtained by DGPS. 3 refs., 5 figs., 1 tab.

Study on 3-D velocity structure of crust and upper mantle in Sichuan-yunnan region, China

Science.gov (United States)

Wang, C.; Mooney, W.D.; Wang, X.; Wu, J.; Lou, H.; Wang, F.

2002-01-01

Based on the first arrival P and S data of 4 625 regional earthquakes recorded at 174 stations dispersed in the Yunnan and Sichuan Provinces, the 3-D velocity structure of crust and upper mantle in the region is determined, incorporating with previous deep geophysical data. In the upper crust, a positive anomaly velocity zone exists in the Sichuan basin, whereas a negative anomaly velocity zone exists in the western Sichuan plateau. The boundary between the positive and negative anomaly zones is the Longmenshan fault zone. The images of lower crust and upper mantle in the Longmenshan fault, Xianshuihe fault, Honghe fault and others appear the characteristic of tectonic boundary, indicating that the faults litely penetrate the Moho discontinuity. The negative velocity anomalies at the depth of 50 km in the Tengchong volcanic area and the Panxi tectonic zone appear to be associated with the temperature and composition variations in the upper mantle. The overall features of the crustal and the upper mantle structures in the Sichuan-Yunnan region are the lower average velocity in both crust and uppermost mantle, the large crustal thickness variations, and the existence of high conductivity layer in the crust or/and upper mantle, and higher geothermal value. All these features are closely related to the collision between the Indian and the Asian plates. The crustal velocity in the Sichuan-Yunnan rhombic block generally shows normal.value or positive anomaly, while the negative anomaly exists in the area along the large strike-slip faults as the block boundary. It is conducive to the crustal block side-pressing out along the faults. In the major seismic zones, the seismicity is relative to the negative anomaly velocity. Most strong earthquakes occurred in the upper-mid crust with positive anomaly or normal velocity, where the negative anomaly zone generally exists below.

Fast Kalman Filtering for Relative Spacecraft Position and Attitude Estimation for the Raven ISS Hosted Payload

Science.gov (United States)

Galante, Joseph M.; Van Eepoel, John; D'Souza, Chris; Patrick, Bryan

2016-01-01

The Raven ISS Hosted Payload will feature several pose measurement sensors on a pan/tilt gimbal which will be used to autonomously track resupply vehicles as they approach and depart the International Space Station. This paper discusses the derivation of a Relative Navigation Filter (RNF) to fuse measurements from the different pose measurement sensors to produce relative position and attitude estimates. The RNF relies on relative translation and orientation kinematics and careful pose sensor modeling to eliminate dependence on orbital position information and associated orbital dynamics models. The filter state is augmented with sensor biases to provide a mechanism for the filter to estimate and mitigate the offset between the measurements from different pose sensors

Application of Shape Similarity in Pose Selection and Virtual Screening in CSARdock2014 Exercise.

Science.gov (United States)

Kumar, Ashutosh; Zhang, Kam Y J

2016-06-27

To evaluate the applicability of shape similarity in docking-based pose selection and virtual screening, we participated in the CSARdock2014 benchmark exercise for identifying the correct docking pose of inhibitors targeting factor XA, spleen tyrosine kinase, and tRNA methyltransferase. This exercise provides a valuable opportunity for researchers to test their docking programs, methods, and protocols in a blind testing environment. In the CSARdock2014 benchmark exercise, we have implemented an approach that uses ligand 3D shape similarity to facilitate docking-based pose selection and virtual screening. We showed here that ligand 3D shape similarity between bound poses could be used to identify the native-like pose from an ensemble of docking-generated poses. Our method correctly identified the native pose as the top-ranking pose for 73% of test cases in a blind testing environment. Moreover, the pose selection results also revealed an excellent correlation between ligand 3D shape similarity scores and RMSD to X-ray crystal structure ligand. In the virtual screening exercise, the average RMSD for our pose prediction was found to be 1.02 Å, and it was one of the top performances achieved in CSARdock2014 benchmark exercise. Furthermore, the inclusion of shape similarity improved virtual screening performance of docking-based scoring and ranking. The coefficient of determination (r(2)) between experimental activities and docking scores for 276 spleen tyrosine kinase inhibitors was found to be 0.365 but reached 0.614 when the ligand 3D shape similarity was included.

Directional velocity estimation using focusing along the flow direction - I: Theory and simulation

DEFF Research Database (Denmark)

Jensen, Jørgen Arendt

2003-01-01

A new method for directional velocity estimation is presented. The method uses beamformation along the flow direction to generate data in which the correct velocity magnitude can be directly estimated from the shift in position of the received consecutive signals. The shift is found by cross-corr...

Segmentation, classification, and pose estimation of military vehicles in low resolution laser radar images

Science.gov (United States)

Neulist, Joerg; Armbruster, Walter

2005-05-01

Model-based object recognition in range imagery typically involves matching the image data to the expected model data for each feasible model and pose hypothesis. Since the matching procedure is computationally expensive, the key to efficient object recognition is the reduction of the set of feasible hypotheses. This is particularly important for military vehicles, which may consist of several large moving parts such as the hull, turret, and gun of a tank, and hence require an eight or higher dimensional pose space to be searched. The presented paper outlines techniques for reducing the set of feasible hypotheses based on an estimation of target dimensions and orientation. Furthermore, the presence of a turret and a main gun and their orientations are determined. The vehicle parts dimensions as well as their error estimates restrict the number of model hypotheses whereas the position and orientation estimates and their error bounds reduce the number of pose hypotheses needing to be verified. The techniques are applied to several hundred laser radar images of eight different military vehicles with various part classifications and orientations. On-target resolution in azimuth, elevation and range is about 30 cm. The range images contain up to 20% dropouts due to atmospheric absorption. Additionally some target retro-reflectors produce outliers due to signal crosstalk. The presented algorithms are extremely robust with respect to these and other error sources. The hypothesis space for hull orientation is reduced to about 5 degrees as is the error for turret rotation and gun elevation, provided the main gun is visible.

Auditory velocity discrimination in the horizontal plane at very high velocities.

Science.gov (United States)

Frissen, Ilja; Féron, François-Xavier; Guastavino, Catherine

2014-10-01

We determined velocity discrimination thresholds and Weber fractions for sounds revolving around the listener at very high velocities. Sounds used were a broadband white noise and two harmonic sounds with fundamental frequencies of 330 Hz and 1760 Hz. Experiment 1 used velocities ranging between 288°/s and 720°/s in an acoustically treated room and Experiment 2 used velocities between 288°/s and 576°/s in a highly reverberant hall. A third experiment addressed potential confounds in the first two experiments. The results show that people can reliably discriminate velocity at very high velocities and that both thresholds and Weber fractions decrease as velocity increases. These results violate Weber's law but are consistent with the empirical trend observed in the literature. While thresholds for the noise and 330 Hz harmonic stimulus were similar, those for the 1760 Hz harmonic stimulus were substantially higher. There were no reliable differences in velocity discrimination between the two acoustical environments, suggesting that auditory motion perception at high velocities is robust against the effects of reverberation. Copyright © 2014 Elsevier B.V. All rights reserved.

Enhancing students’ mathematical problem posing skill through writing in performance tasks strategy

Science.gov (United States)

Kadir; Adelina, R.; Fatma, M.

2018-01-01

Many researchers have studied the Writing in Performance Task (WiPT) strategy in learning, but only a few paid attention on its relation to the problem-posing skill in mathematics. The problem-posing skill in mathematics covers problem reformulation, reconstruction, and imitation. The purpose of the present study was to examine the effect of WiPT strategy on students’ mathematical problem-posing skill. The research was conducted at a Public Junior Secondary School in Tangerang Selatan. It used a quasi-experimental method with randomized control group post-test. The samples were 64 students consists of 32 students of the experiment group and 32 students of the control. A cluster random sampling technique was used for sampling. The research data were obtained by testing. The research shows that the problem-posing skill of students taught by WiPT strategy is higher than students taught by a conventional strategy. The research concludes that the WiPT strategy is more effective in enhancing the students’ mathematical problem-posing skill compared to the conventional strategy.

Measurement of Aortic Pulse Wave Velocity With a Connected Bathroom Scale.

Science.gov (United States)

Campo, David; Khettab, Hakim; Yu, Roger; Genain, Nicolas; Edouard, Paul; Buard, Nadine; Boutouyrie, Pierre

2017-09-01

Measurement of arterial stiffness should be more available. Our aim was to show that aortic pulse wave velocity can be reliably measured with a bathroom scale combining the principles of ballistocardiography (BCG) and impedance plethysmography on a single foot. The calibration of the bathroom scale was conducted on a group of 106 individuals. The aortic pulse wave velocity was measured with the SphygmoCor in the supine position. Three consecutive measurements were then performed on the Withings scale in the standing position. This aorta-leg pulse transit time (alPTT) was then converted into a velocity with the additional input of the height of the person. Agreement between the SphygmoCor and the bathroom scale so calibrated is assessed on a separate group of 86 individuals, following the same protocol. The bias is 0.25 m·s-1 and the SE 1.39 m·s-1. This agreement with Sphygmocor is "acceptable" according to the ARTERY classification. The alPTT correlated well with cfPTT with (Spearman) R = 0.73 in pooled population (cal 0.79, val 0.66). The aorta-leg pulse wave velocity correlated with carotid-femoral pulse wave velocity with R = 0.76 (cal 0.80, val 0.70). Estimation of the aortic pulse wave velocity is feasible with a bathroom scale. Further investigations are needed to improve the repeatability of measurements and to test their accuracy in different populations and conditions. © The Author 2017. Published by Oxford University Press on behalf of American Journal of Hypertension.

Temperature and velocity measurement fields of fluids using a schlieren system.

Science.gov (United States)

Martínez-González, Adrian; Guerrero-Viramontes, J A; Moreno-Hernández, David

2012-06-01

This paper proposes a combined method for two-dimensional temperature and velocity measurements in liquid and gas flow using a schlieren system. Temperature measurements are made by relating the intensity level of each pixel in a schlieren image to the corresponding knife-edge position measured at the exit focal plane of the schlieren system. The same schlieren images were also used to measure the velocity of the fluid flow. The measurement is made by using particle image velocimetry (PIV). The PIV software used in this work analyzes motion between consecutive schlieren frames to obtain velocity fields. The proposed technique was applied to measure the temperature and velocity fields in the natural convection of water provoked by a heated rectangular plate.

Development and validity of a scale of perception of velocity in resistance exercise.

Science.gov (United States)

Bautista, Iker J; Chirosa, Ignacio J; Chirosa, Luis J; Martín, Ignacio; González, Andrés; Robertson, Robert J

2014-09-01

This aims of this study were twofold; 1) to development a new scale of perceived velocity in the bench press exercise and 2) to examine the scales concurrent validity. Twenty one physically active males with mean ±SD age, height and weights of: 27.5 ± 4.7 years, 1.77 ± 0.07 m, and 79.8 ± 10.3 kg respectively, took part in the study. The criterion variable used to test the validity of the new scale was the mean execution velocity (Velreal) of the bench press exercise. Three intensities (light loads [ 70% 1RM]) were measured randomly during 5 days of testing. Perceived velocity (Velscale) was measured immediately after each exercise set using the new scale. A positive linear correlation (r range = 0.69 to 0.81) was found in all three intensities, analyzed individually, between the Velreal and Velscale. Pearson correlations showed a greater frequency of scale use resulted higher correlation values (range r = 0.88 to 0.96). This study provides evidence of the concurrent validity of a new scale of perceived velocity in the bench press exercise in trained adult males. These results suggest the exercise intensity of the bench press can be quantified quickly and effective using this new scale of perceived velocity, particularly when training for maximum power. Key PointsMeasurement of perception of velocity can complement other scales of perception such as the 15 category Borg scale or the OMNI-RES.The results obtained in this study show that there was a positive correlation between the perceived velocity measured by the scale and actual velocityRegular use of the new scale of perceived velocity in external resistance training provides athletes with continuous feedback of execution velocity in each repetition and set, especially with high power loads.

ONKALO POSE experiment. Phase 3: execution and monitoring

International Nuclear Information System (INIS)

Valli, J.; Hakala, M.; Wanne, T.; Kantia, P.; Siren, T.

2014-01-01

In-depth knowledge of the in situ stress state at the Olkiluoto site is critical for stability assessment both prior to and after deposition of spent nuclear fuel in order to understand and avoid potential damage to the rock at the site. Posiva's Olkiluoto Spalling Experiment (POSE) was designed specifically for this purpose with three primary goals: establish the in situ spalling/damage strength of Olkiluoto migmatitic gneiss, establish the state of in situ stress at the -345 m depth level and act as a Prediction-Outcome (P-O) exercise. Phases 1 and 2 of POSE are outlined in WR 2012-60. The objectives of the third phase of the POSE experiment are the same as the original objectives outlined above. This report outlines the execution and results of the third phase of the POSE experiment. The third phase of the experiment involved internally heating the third experimental hole (ONK-EH3) of the POSE niche in order to cause a symmetrical thermal stress increase around the hole due to the thermal expansion of rock. This thermomechanically induced stress increase, coupled with the estimated existing in situ stress state, should cause the maximum principal stress around the hole to exceed the predicted spalling strength of the rock around the hole. ONK-EH3 is located almost completely in pegmatitic granite. Four fractures near the top of the hole were mapped after boring ONK-EH3, and a tensile failure located at the contact between mica-rich gneiss and pegmatitic granite was observed 18 months after boring, prior to the experiment. Based on predictive calculations and the estimated in situ state of stress, the maximum principal stress magnitude should reach ca. 100 MPa when the temperature was just below 100 deg C after 12 weeks of heating. There were problems with the heater control unit at the beginning of the experiment, after which heating proceeded according to plan. The crack damage threshold of pegmatitic granite has been determined to be 85 ±17 MPa at Olkiluoto

Angles-Only Navigation: Position and Velocity Solution from Absolute Triangulation

Science.gov (United States)

2011-01-01

contrast to the Kalman filter approach , the algorithm presented here does not require any pre- vious estimate of position or motion, and is of closed... geocentric position vectors. Using two vectors derived from each such observation (see next section), a solution for a portion of the boat’s track was...t)x0 describes the curvature of the path in the direction x 0, which, for a geocentric coordinate system and /(t) < 0, will be toward the center of

Teachers Implementing Mathematical Problem Posing in the Classroom: Challenges and Strategies

Science.gov (United States)

Leung, Shuk-kwan S.

2013-01-01

This paper reports a study about how a teacher educator shared knowledge with teachers when they worked together to implement mathematical problem posing (MPP) in the classroom. It includes feasible methods for getting practitioners to use research-based tasks aligned to the curriculum in order to encourage children to pose mathematical problems.…

Superconducting RF for Low-Velocity and Intermediate-Velocity Beams

CERN Document Server

Grimm, Terry L

2005-01-01

Existing superconducting radio frequency (SRF) linacs are used to accelerate ions (protons through uranium) with velocities less than about 15% the speed of light, or electrons with velocities approximately equal to the speed of light. In the last ten years, prototype SRF cavities have completely covered the remaining range of velocities. They have demonstrated that SRF linacs will be capable of accelerating electrons from rest up to the speed of light, and ions from less than 1% up to the speed of light. When the Spallation Neutron Source is operational, SRF ion linacs will have covered the full range of velocities except for v/c ~ 0.15 to v/c ~ 0.5. A number of proposed projects (RIA, EURISOL) would span the latter range of velocities. Future SRF developments will have to address the trade-offs associated with a number of issues, including high gradient operation, longitudinal and transverse acceptance, microphonics, Lorentz detuning, operating temperature, cryogenic load, number of gaps or cells per cavity...

Critical velocities in He II for independently varied superfluid and normal fluid velocities

International Nuclear Information System (INIS)

Baehr, M.L.

1984-01-01

Experiments were performed to measure the critical velocity in pure superflow and compare to the theoretical prediction; to measure the first critical velocity for independently varied superfluid and normal fluid velocities; and to investigate the propagation of the second critical velocity from the thermal counterflow line through the V/sub n/,-V/sub s/ quadrant. The experimental apparatus employed a thermal counterflow heater to adjust the normal fluid velocity, a fountain pump to vary the superfluid velocity, and a level sensing capacitor to measure the superfluid velocity. The results of the pure superfluid critical velocity measurements indicate that this velocity is temperature independent contrary to Schwarz's theory. It was found that the first critical velocity for independently varied V/sub n/ and V/sub s/ could be described by a linear function of V/sub n/ and was otherwise temperature independent. It was found that the second critical velocity could only be distinguished near the thermal counterflow line

The Effect of Air Velocity on the Prevention of Heat Stress in Iranian Veiled Females

Directory of Open Access Journals (Sweden)

Habibi

2016-09-01

Full Text Available Background Some environmental factors such as the ambient temperature, radiant temperature, humidity and air velocity as well as clothing and activity level are effective to induce heat strain on the workers. Objectives The current study aimed to evaluate the effect of air velocity on Iranian veiled females at various exercise intensities and climatic conditions. Methods The current experimental study was conducted on 51 healthy veiled females with Islamic clothing (n = 30 in two hot-dry climatic chambers (wet-bulb globe temperature (WBGT = 32 ± 0.1°C and WBGT = 30 ± 0.1°C, 40% relative humidity (RH without air velocity and (n = 21 with air velocity 0.31 m/s in sitting and light workload conditions, respectively, for 60 minutes. The WBGT, oral temperature and heart rate were measured simultaneously every five minutes during the heat exposure and resting state. Data were analyzed using correlation and line regression by SPSS ver. 16. Results In both groups, oral temperature and heart rate increased during heat exposure. The increase of oral temperature and heart rate were larger in the group with air velocity (sitting position, 37.05 ± 0.20°C, 98.30 ± 7.79 bpm, light workload, 37.34 ± 0.24°C, 124.08 ± 6.09 bpm compared those of the group without air velocity (sitting position, 36.70 ± 0.36°C, 69.74 ± 0.98 bpm, light workload, 36.71 ± 0.27°C, 110.78 ± 17.9 bpm. The difference in physiological strain index (PSI between resting and low workload were higher in with air velocity group than those of the group without air velocity. Conclusions The results showed that the heat stress increased by increasing air velocity and humidity in both groups. The air velocity with high humidity can be considered as a positive factor in the occurrence of heat strain. Therefore, the incidence of heat stress decreases with the increase of humidity and reduction of air velocity or with increase of air velocity and reduction of humidity in Iranian veiled

A multi-camera system for real-time pose estimation

Science.gov (United States)

Savakis, Andreas; Erhard, Matthew; Schimmel, James; Hnatow, Justin

2007-04-01

This paper presents a multi-camera system that performs face detection and pose estimation in real-time and may be used for intelligent computing within a visual sensor network for surveillance or human-computer interaction. The system consists of a Scene View Camera (SVC), which operates at a fixed zoom level, and an Object View Camera (OVC), which continuously adjusts its zoom level to match objects of interest. The SVC is set to survey the whole filed of view. Once a region has been identified by the SVC as a potential object of interest, e.g. a face, the OVC zooms in to locate specific features. In this system, face candidate regions are selected based on skin color and face detection is accomplished using a Support Vector Machine classifier. The locations of the eyes and mouth are detected inside the face region using neural network feature detectors. Pose estimation is performed based on a geometrical model, where the head is modeled as a spherical object that rotates upon the vertical axis. The triangle formed by the mouth and eyes defines a vertical plane that intersects the head sphere. By projecting the eyes-mouth triangle onto a two dimensional viewing plane, equations were obtained that describe the change in its angles as the yaw pose angle increases. These equations are then combined and used for efficient pose estimation. The system achieves real-time performance for live video input. Testing results assessing system performance are presented for both still images and video.

Development of a very-low-velocity superconducting linac

Energy Technology Data Exchange (ETDEWEB)

Shepard, K.W.

1987-01-01

Four types of superconducting accelerator structures are being developed for use in a low velocity positive-ion injector linac for the ATLAS heavy-ion accelerator. Prototypes of the first two of these have been tested. The structures are all variants of a quarter-wave line terminated with a four-gap interdigital drift-tube array. The two structure types so far tested operate at 48.5 mHz and have an active length of 10 cm (for the particle velocity - .008c type) and 16.5 cm (for the velocity - .014c type). Effective accelerating fields of 10 MV/m have been achieved with the 10 cm structure, corresponding to an effective accelerating potential of 1 MV. The 16.5 cm structure has been operated at field levels of 6 MV/m, also giving an effective potential of 1 MV. Prototypes of the remaining two resonant geometries are under construction.

Development of a very-low-velocity superconducting linac

International Nuclear Information System (INIS)

Shepard, K.W.

1987-01-01

Four types of superconducting accelerator structures are being developed for use in a low velocity positive-ion injector linac for the ATLAS heavy-ion accelerator. Prototypes of the first two of these have been tested. The structures are all variants of a quarter-wave line terminated with a four-gap interdigital drift-tube array. The two structure types so far tested operate at 48.5 mHz and have an active length of 10 cm (for the particle velocity - .008c type) and 16.5 cm (for the velocity - .014c type). Effective accelerating fields of 10 MV/m have been achieved with the 10 cm structure, corresponding to an effective accelerating potential of 1 MV. The 16.5 cm structure has been operated at field levels of 6 MV/m, also giving an effective potential of 1 MV. Prototypes of the remaining two resonant geometries are under construction

Recovering the 3d Pose and Shape of Vehicles from Stereo Images

Science.gov (United States)

Coenen, M.; Rottensteiner, F.; Heipke, C.

2018-05-01

The precise reconstruction and pose estimation of vehicles plays an important role, e.g. for autonomous driving. We tackle this problem on the basis of street level stereo images obtained from a moving vehicle. Starting from initial vehicle detections, we use a deformable vehicle shape prior learned from CAD vehicle data to fully reconstruct the vehicles in 3D and to recover their 3D pose and shape. To fit a deformable vehicle model to each detection by inferring the optimal parameters for pose and shape, we define an energy function leveraging reconstructed 3D data, image information, the vehicle model and derived scene knowledge. To minimise the energy function, we apply a robust model fitting procedure based on iterative Monte Carlo model particle sampling. We evaluate our approach using the object detection and orientation estimation benchmark of the KITTI dataset (Geiger et al., 2012). Our approach can deal with very coarse pose initialisations and we achieve encouraging results with up to 82 % correct pose estimations. Moreover, we are able to deliver very precise orientation estimation results with an average absolute error smaller than 4°.

Teaching Human Poses Interactively to a Social Robot

Science.gov (United States)

Gonzalez-Pacheco, Victor; Malfaz, Maria; Fernandez, Fernando; Salichs, Miguel A.

2013-01-01

The main activity of social robots is to interact with people. In order to do that, the robot must be able to understand what the user is saying or doing. Typically, this capability consists of pre-programmed behaviors or is acquired through controlled learning processes, which are executed before the social interaction begins. This paper presents a software architecture that enables a robot to learn poses in a similar way as people do. That is, hearing its teacher's explanations and acquiring new knowledge in real time. The architecture leans on two main components: an RGB-D (Red-, Green-, Blue- Depth) -based visual system, which gathers the user examples, and an Automatic Speech Recognition (ASR) system, which processes the speech describing those examples. The robot is able to naturally learn the poses the teacher is showing to it by maintaining a natural interaction with the teacher. We evaluate our system with 24 users who teach the robot a predetermined set of poses. The experimental results show that, with a few training examples, the system reaches high accuracy and robustness. This method shows how to combine data from the visual and auditory systems for the acquisition of new knowledge in a natural manner. Such a natural way of training enables robots to learn from users, even if they are not experts in robotics. PMID:24048336

Teaching Human Poses Interactively to a Social Robot

Directory of Open Access Journals (Sweden)

Miguel A. Salichs

2013-09-01

Full Text Available The main activity of social robots is to interact with people. In order to do that, the robot must be able to understand what the user is saying or doing. Typically, this capability consists of pre-programmed behaviors or is acquired through controlled learning processes, which are executed before the social interaction begins. This paper presents a software architecture that enables a robot to learn poses in a similar way as people do. That is, hearing its teacher’s explanations and acquiring new knowledge in real time. The architecture leans on two main components: an RGB-D (Red-, Green-, Blue- Depth -based visual system, which gathers the user examples, and an Automatic Speech Recognition (ASR system, which processes the speech describing those examples. The robot is able to naturally learn the poses the teacher is showing to it by maintaining a natural interaction with the teacher. We evaluate our system with 24 users who teach the robot a predetermined set of poses. The experimental results show that, with a few training examples, the system reaches high accuracy and robustness. This method shows how to combine data from the visual and auditory systems for the acquisition of new knowledge in a natural manner. Such a natural way of training enables robots to learn from users, even if they are not experts in robotics.

An Investigation of Eighth Grade Students' Problem Posing Skills (Turkey Sample)

Science.gov (United States)

Arikan, Elif Esra; Ünal, Hasan

2015-01-01

To pose a problem refers to the creative activity for mathematics education. The purpose of the study was to explore the eighth grade students' problem posing ability. Three learning domains such as requiring four operations, fractions and geometry were chosen for this reason. There were two classes which were coded as class A and class B. Class A…

Analyzing Pre-Service Primary Teachers' Fraction Knowledge Structures through Problem Posing

Science.gov (United States)

Kilic, Cigdem

2015-01-01

In this study it was aimed to determine pre-service primary teachers' knowledge structures of fraction through problem posing activities. A total of 90 pre-service primary teachers participated in this study. A problem posing test consisting of two questions was used and the participants were asked to generate as many as problems based on the…

Mean Velocity vs. Mean Propulsive Velocity vs. Peak Velocity: Which Variable Determines Bench Press Relative Load With Higher Reliability?

Science.gov (United States)

García-Ramos, Amador; Pestaña-Melero, Francisco L; Pérez-Castilla, Alejandro; Rojas, Francisco J; Gregory Haff, G

2018-05-01

García-Ramos, A, Pestaña-Melero, FL, Pérez-Castilla, A, Rojas, FJ, and Haff, GG. Mean velocity vs. mean propulsive velocity vs. peak velocity: which variable determines bench press relative load with higher reliability? J Strength Cond Res 32(5): 1273-1279, 2018-This study aimed to compare between 3 velocity variables (mean velocity [MV], mean propulsive velocity [MPV], and peak velocity [PV]): (a) the linearity of the load-velocity relationship, (b) the accuracy of general regression equations to predict relative load (%1RM), and (c) the between-session reliability of the velocity attained at each percentage of the 1-repetition maximum (%1RM). The full load-velocity relationship of 30 men was evaluated by means of linear regression models in the concentric-only and eccentric-concentric bench press throw (BPT) variants performed with a Smith machine. The 2 sessions of each BPT variant were performed within the same week separated by 48-72 hours. The main findings were as follows: (a) the MV showed the strongest linearity of the load-velocity relationship (median r = 0.989 for concentric-only BPT and 0.993 for eccentric-concentric BPT), followed by MPV (median r = 0.983 for concentric-only BPT and 0.980 for eccentric-concentric BPT), and finally PV (median r = 0.974 for concentric-only BPT and 0.969 for eccentric-concentric BPT); (b) the accuracy of the general regression equations to predict relative load (%1RM) from movement velocity was higher for MV (SEE = 3.80-4.76%1RM) than for MPV (SEE = 4.91-5.56%1RM) and PV (SEE = 5.36-5.77%1RM); and (c) the PV showed the lowest within-subjects coefficient of variation (3.50%-3.87%), followed by MV (4.05%-4.93%), and finally MPV (5.11%-6.03%). Taken together, these results suggest that the MV could be the most appropriate variable for monitoring the relative load (%1RM) in the BPT exercise performed in a Smith machine.

Using physics-based pose predictions and free energy perturbation calculations to predict binding poses and relative binding affinities for FXR ligands in the D3R Grand Challenge 2

Science.gov (United States)

Athanasiou, Christina; Vasilakaki, Sofia; Dellis, Dimitris; Cournia, Zoe

2018-01-01

Computer-aided drug design has become an integral part of drug discovery and development in the pharmaceutical and biotechnology industry, and is nowadays extensively used in the lead identification and lead optimization phases. The drug design data resource (D3R) organizes challenges against blinded experimental data to prospectively test computational methodologies as an opportunity for improved methods and algorithms to emerge. We participated in Grand Challenge 2 to predict the crystallographic poses of 36 Farnesoid X Receptor (FXR)-bound ligands and the relative binding affinities for two designated subsets of 18 and 15 FXR-bound ligands. Here, we present our methodology for pose and affinity predictions and its evaluation after the release of the experimental data. For predicting the crystallographic poses, we used docking and physics-based pose prediction methods guided by the binding poses of native ligands. For FXR ligands with known chemotypes in the PDB, we accurately predicted their binding modes, while for those with unknown chemotypes the predictions were more challenging. Our group ranked #1st (based on the median RMSD) out of 46 groups, which submitted complete entries for the binding pose prediction challenge. For the relative binding affinity prediction challenge, we performed free energy perturbation (FEP) calculations coupled with molecular dynamics (MD) simulations. FEP/MD calculations displayed a high success rate in identifying compounds with better or worse binding affinity than the reference (parent) compound. Our studies suggest that when ligands with chemical precedent are available in the literature, binding pose predictions using docking and physics-based methods are reliable; however, predictions are challenging for ligands with completely unknown chemotypes. We also show that FEP/MD calculations hold predictive value and can nowadays be used in a high throughput mode in a lead optimization project provided that crystal structures of

Using cluster analysis to organize and explore regional GPS velocities

Science.gov (United States)

Simpson, Robert W.; Thatcher, Wayne; Savage, James C.

2012-01-01

Cluster analysis offers a simple visual exploratory tool for the initial investigation of regional Global Positioning System (GPS) velocity observations, which are providing increasingly precise mappings of actively deforming continental lithosphere. The deformation fields from dense regional GPS networks can often be concisely described in terms of relatively coherent blocks bounded by active faults, although the choice of blocks, their number and size, can be subjective and is often guided by the distribution of known faults. To illustrate our method, we apply cluster analysis to GPS velocities from the San Francisco Bay Region, California, to search for spatially coherent patterns of deformation, including evidence of block-like behavior. The clustering process identifies four robust groupings of velocities that we identify with four crustal blocks. Although the analysis uses no prior geologic information other than the GPS velocities, the cluster/block boundaries track three major faults, both locked and creeping.

Improving attitudes toward mathematics learning with problem posing in class VIII

Science.gov (United States)

Vionita, Alfha; Purboningsih, Dyah

2017-08-01

This research is classroom action research which is collaborated to improve student's behavior toward math and mathematics learning at class VIII by using problem posing approach. The subject of research is all of students grade VIIIA which consist of 32 students. This research has been held on two period, first period is about 3 times meeting, and second period is about 4 times meeting. The instrument of this research is implementation of learning observation's guidance by using problem posing approach. Cycle test has been used to measure cognitive competence, and questionnaire to measure the students' behavior in mathematics learning process. The result of research shows the students' behavior has been improving after using problem posing approach. It is showed by the behavior's criteria of students that has increasing result from the average in first period to high in second period. Furthermore, the percentage of test result is also improve from 68,75% in first period to 78,13% in second period. On the other hand, the implementation of learning observation by using problem posing approach has also improving and it is showed by the average percentage of teacher's achievement in first period is 89,2% and student's achievement 85,8%. These results get increase in second period for both teacher and students' achievement which are 94,4% and 91,11%. As a result, students' behavior toward math learning process in class VIII has been improving by using problem posing approach.

Propagation velocities of laser-produced plasmas from copper wire targets and water droplets

Science.gov (United States)

Song, Kyo-Dong; Alexander, Dennis R.

1994-01-01

Experiments were performed to determine the plasma propagation velocities resulting from KrF laser irradiation of copper wire target (75 microns diameter) and water droplets (75 microns diameter) at irradiance levels ranging from 25 to 150 GW/sq cm. Plasma propagation velocities were measured using a streak camera system oriented orthogonally to the high-energy laser propagation axis. Plasma velocities were studied as a function of position in the focused beam. Results show that both the shape of the plasma formation and material removal from the copper wire are different and depend on whether the targets are focused or slightly defocused (approximately = 0.5 mm movement in the beam axis). Plasma formation and its position relative to the target is an important factor in determining the practical focal point during high-energy laser interaction with materials. At irradiance of 100 GW/sq cm, the air plasma has two weak-velocity components which propagate toward and away from the incident laser while a strong-velocity component propagates away from the laser beam as a detonation wave. Comparison of the measured breakdown velocities (in the range of 2.22-2.27 x 10(exp 5) m/s) for air and the value calculated by the nonlinear breakdown wave theory at irradiance of 100 GW/sq cm showed a quantitative agreement within approximately 50% while the linear theory and Gaussian pulse theory failed. The detonation wave velocities of plasma generated from water droplets and copper wire targets for different focused cases were measured and analyzed theoretically. The propagation velocities of laser-induced plasma liquid droplets obtained by previous research are compared with current work.

Web-based Visualisation of Head Pose and Facial Expressions Changes:

DEFF Research Database (Denmark)

Kalliatakis, Grigorios; Vidakis, Nikolaos; Triantafyllidis, Georgios

2016-01-01

Despite significant recent advances in the field of head pose estimation and facial expression recognition, raising the cognitive level when analysing human activity presents serious challenges to current concepts. Motivated by the need of generating comprehensible visual representations from...... and accurately estimate head pose changes in unconstrained environment. In order to complete the secondary process of recognising four universal dominant facial expressions (happiness, anger, sadness and surprise), emotion recognition via facial expressions (ERFE) was adopted. After that, a lightweight data...

Determination of hydrogen cluster velocities and comparison with numerical calculations

International Nuclear Information System (INIS)

Täschner, A.; Köhler, E.; Ortjohann, H.-W.; Khoukaz, A.

2013-01-01

The use of powerful hydrogen cluster jet targets in storage ring experiments led to the need of precise data on the mean cluster velocity as function of the stagnation temperature and pressure for the determination of the volume density of the target beams. For this purpose a large data set of hydrogen cluster velocity distributions and mean velocities was measured at a high density hydrogen cluster jet target using a trumpet shaped nozzle. The measurements have been performed at pressures above and below the critical pressure and for a broad range of temperatures relevant for target operation, e.g., at storage ring experiments. The used experimental method is described which allows for the velocity measurement of single clusters using a time-of-flight technique. Since this method is rather time-consuming and these measurements are typically interfering negatively with storage ring experiments, a method for a precise calculation of these mean velocities was needed. For this, the determined mean cluster velocities are compared with model calculations based on an isentropic one-dimensional van der Waals gas. Based on the obtained data and the presented numerical calculations, a new method has been developed which allows to predict the mean cluster velocities with an accuracy of about 5%. For this two cut-off parameters defining positions inside the nozzle are introduced, which can be determined for a given nozzle by only two velocity measurements

Calibrating the Planck Cluster Mass Scale with Cluster Velocity Dispersions

Science.gov (United States)

Amodeo, Stefania; Mei, Simona; Stanford, Spencer A.; Bartlett, James G.; Melin, Jean-Baptiste; Lawrence, Charles R.; Chary, Ranga-Ram; Shim, Hyunjin; Marleau, Francine; Stern, Daniel

2017-08-01

We measure the Planck cluster mass bias using dynamical mass measurements based on velocity dispersions of a subsample of 17 Planck-detected clusters. The velocity dispersions were calculated using redshifts determined from spectra that were obtained at the Gemini observatory with the GMOS multi-object spectrograph. We correct our estimates for effects due to finite aperture, Eddington bias, and correlated scatter between velocity dispersion and the Planck mass proxy. The result for the mass bias parameter, (1-b), depends on the value of the galaxy velocity bias, {b}{{v}}, adopted from simulations: (1-b)=(0.51+/- 0.09){b}{{v}}3. Using a velocity bias of {b}{{v}}=1.08 from Munari et al., we obtain (1-b)=0.64+/- 0.11, I.e., an error of 17% on the mass bias measurement with 17 clusters. This mass bias value is consistent with most previous weak-lensing determinations. It lies within 1σ of the value that is needed to reconcile the Planck cluster counts with the Planck primary cosmic microwave background constraints. We emphasize that uncertainty in the velocity bias severely hampers the precision of the measurements of the mass bias using velocity dispersions. On the other hand, when we fix the Planck mass bias using the constraints from Penna-Lima et al., based on weak-lensing measurements, we obtain a positive velocity bias of {b}{{v}}≳ 0.9 at 3σ .

Cloud computing approaches for prediction of ligand binding poses and pathways.

Science.gov (United States)

Lawrenz, Morgan; Shukla, Diwakar; Pande, Vijay S

2015-01-22

We describe an innovative protocol for ab initio prediction of ligand crystallographic binding poses and highly effective analysis of large datasets generated for protein-ligand dynamics. We include a procedure for setup and performance of distributed molecular dynamics simulations on cloud computing architectures, a model for efficient analysis of simulation data, and a metric for evaluation of model convergence. We give accurate binding pose predictions for five ligands ranging in affinity from 7 nM to > 200 μM for the immunophilin protein FKBP12, for expedited results in cases where experimental structures are difficult to produce. Our approach goes beyond single, low energy ligand poses to give quantitative kinetic information that can inform protein engineering and ligand design.

Diffraction imaging and velocity analysis using oriented velocity continuation

KAUST Repository

Decker, Luke

2014-08-05

We perform seismic diffraction imaging and velocity analysis by separating diffractions from specular reflections and decomposing them into slope components. We image slope components using extrapolation in migration velocity in time-space-slope coordinates. The extrapolation is described by a convection-type partial differential equation and implemented efficiently in the Fourier domain. Synthetic and field data experiments show that the proposed algorithm is able to detect accurate time-migration velocities by automatically measuring the flatness of events in dip-angle gathers.

Position Analysis of a Hybrid Serial-Parallel Manipulator in Immersion Lithography

Directory of Open Access Journals (Sweden)

Jie-jie Shao

2015-01-01

Full Text Available This paper proposes a novel hybrid serial-parallel mechanism with 6 degrees of freedom. The new mechanism combines two different parallel modules in a serial form. 3-P̲(PH parallel module is architecture of 3 degrees of freedom based on higher joints and specializes in describing two planes’ relative pose. 3-P̲SP parallel module is typical architecture which has been widely investigated in recent researches. In this paper, the direct-inverse position problems of the 3-P̲SP parallel module in the couple mixed-type mode are analyzed in detail, and the solutions are obtained in an analytical form. Furthermore, the solutions for the direct and inverse position problems of the novel hybrid serial-parallel mechanism are also derived and obtained in the analytical form. The proposed hybrid serial-parallel mechanism is applied to regulate the immersion hood’s pose in an immersion lithography system. Through measuring and regulating the pose of the immersion hood with respect to the wafer surface simultaneously, the immersion hood can track the wafer surface’s pose in real-time and the gap status is stabilized. This is another exploration to hybrid serial-parallel mechanism’s application.

Spray droplet velocity characterization for convergent nozzles with three different diameters

Energy Technology Data Exchange (ETDEWEB)

R. Payri; B. Tormos; F.J. Salvador; L. Araneo [Universidad Politecnica de Valencia, Valencia (Spain). CMT-Motores Termicos

2008-11-15

The core of the present work consists of the phase-Doppler anemometry non-intrusive measurements performed at various points of diesel direct injection sprays in order to obtain the local speed of fuel droplets. The main objective was to perform extensive sets of measurements on convergent nozzles with various orifices diameters, observe and justify the differences and compare the experimental data with a theoretical approach derived by the authors in a previous work which takes into account the spray momentum flux. Experimental axial velocity profiles in different sections of the spray showed a radial distribution that was fitted with a high level of agreement to a Gaussian profile and so proving that this type of profile is a reasonable approach for the type of sprays within the scope of the present work. The experimental results showed that the velocity in the spray's axis inversely depends on axial position and that for a given axial position; higher axial velocity has been measured for the nozzles with higher spray momentum. 16 refs., 5 figs., 5 tabs.

Multispectral embedding-based deep neural network for three-dimensional human pose recovery

Science.gov (United States)

Yu, Jialin; Sun, Jifeng

2018-01-01

Monocular image-based three-dimensional (3-D) human pose recovery aims to retrieve 3-D poses using the corresponding two-dimensional image features. Therefore, the pose recovery performance highly depends on the image representations. We propose a multispectral embedding-based deep neural network (MSEDNN) to automatically obtain the most discriminative features from multiple deep convolutional neural networks and then embed their penultimate fully connected layers into a low-dimensional manifold. This compact manifold can explore not only the optimum output from multiple deep networks but also the complementary properties of them. Furthermore, the distribution of each hierarchy discriminative manifold is sufficiently smooth so that the training process of our MSEDNN can be effectively implemented only using few labeled data. Our proposed network contains a body joint detector and a human pose regressor that are jointly trained. Extensive experiments conducted on four databases show that our proposed MSEDNN can achieve the best recovery performance compared with the state-of-the-art methods.

Optimal Control Method of Robot End Position and Orientation Based on Dynamic Tracking Measurement

Science.gov (United States)

Liu, Dalong; Xu, Lijuan

2018-01-01

In order to improve the accuracy of robot pose positioning and control, this paper proposed a dynamic tracking measurement robot pose optimization control method based on the actual measurement of D-H parameters of the robot, the parameters is taken with feedback compensation of the robot, according to the geometrical parameters obtained by robot pose tracking measurement, improved multi sensor information fusion the extended Kalan filter method, with continuous self-optimal regression, using the geometric relationship between joint axes for kinematic parameters in the model, link model parameters obtained can timely feedback to the robot, the implementation of parameter correction and compensation, finally we can get the optimal attitude angle, realize the robot pose optimization control experiments were performed. 6R dynamic tracking control of robot joint robot with independent research and development is taken as experimental subject, the simulation results show that the control method improves robot positioning accuracy, and it has the advantages of versatility, simplicity, ease of operation and so on.

Referencing geostrophic velocities using ADCP data Referencing geostrophic velocities using ADCP data

Directory of Open Access Journals (Sweden)

Isis Comas-Rodríguez

2010-06-01

Full Text Available Acoustic Doppler Current Profilers (ADCPs have proven to be a useful oceanographic tool in the study of ocean dynamics. Data from D279, a transatlantic hydrographic cruise carried out in spring 2004 along 24.5°N, were processed, and lowered ADCP (LADCP bottom track data were used to assess the choice of reference velocity for geostrophic calculations. The reference velocities from different combinations of ADCP data were compared to one another and a reference velocity was chosen based on the LADCP data. The barotropic tidal component was subtracted to provide a final reference velocity estimated by LADCP data. The results of the velocity fields are also shown. Further studies involving inverse solutions will include the reference velocity calculated here.

Making 2D face recognition more robust using AAMs for pose compensation

NARCIS (Netherlands)

Huisman, Peter; Munster, Ruud; Moro-Ellenberger, Stephanie; Veldhuis, Raymond N.J.; Bazen, A.M.

2006-01-01

The problem of pose in 2D face recognition is widely acknowledged. Commercial systems are limited to near frontal face images and cannot deal with pose deviations larger than 15 degrees from the frontal view. This is a problem, when using face recognition for surveillance applications in which

Integrating Worked Examples into Problem Posing in a Web-Based Learning Environment

Science.gov (United States)

Hsiao, Ju-Yuan; Hung, Chun-Ling; Lan, Yu-Feng; Jeng, Yoau-Chau

2013-01-01

Most students always lack of experience and perceive difficult regarding problem posing. The study hypothesized that worked examples may have benefits for supporting students' problem posing activities. A quasi-experiment was conducted in the context of a business mathematics course for examining the effects of integrating worked examples into…

Free-surface velocity measurements using an optically recording velocity interferometer

International Nuclear Information System (INIS)

Lu Jianxin; Wang Zhao; Liang Jing; Shan Yusheng; Zhou Chuangzhi; Xiang Yihuai; Lu Ze; Tang Xiuzhang

2006-01-01

An optically recording velocity interferometer system (ORVIS) was developed for the free-surface velocity measurements in the equation of state experiments. The time history of free-surface velocity could be recorded by the electronic streak camera. In the experiments, ORVIS got a 179 ps time resolution, and a higher time resolution could be got by minimizing the delay time. The equation of state experiments were carried out on the high power excimer laser system called 'Heaven I' with laser wavelength of 248.4 nm, pulse duration of 25 ns and maximum energy 158 J. Free-surface velocity of 20 μm thick iron got 3.86 km/s with laser intensity of 6.24 x 10 11 W·cm -2 , and free-surface velocity of 100 μm thick aluminum with 100 μm CH foil at the front got 2.87 km/s with laser intensity 7.28 x 10 11 W·cm -2 . (authors)

On linear relationship between shock velocity and particle velocity

International Nuclear Information System (INIS)

Dandache, H.

1986-11-01

We attempt to derive the linear relationship between shock velocity U s and particle velocity U p from thermodynamic considerations, taking into account an ideal gas equation of state and a Mie-Grueneisen equation of state for solids. 23 refs

Head Pose Estimation from Passive Stereo Images

DEFF Research Database (Denmark)

Breitenstein, Michael D.; Jensen, Jeppe; Høilund, Carsten

2009-01-01

function. Our algorithm incorporates 2D and 3D cues to make the system robust to low-quality range images acquired by passive stereo systems. It handles large pose variations (of ±90 ° yaw and ±45 ° pitch rotation) and facial variations due to expressions or accessories. For a maximally allowed error of 30...

Dispersion upscaling from a pore scale characterization of Lagrangian velocities

Science.gov (United States)

Turuban, Régis; de Anna, Pietro; Jiménez-Martínez, Joaquín; Tabuteau, Hervé; Méheust, Yves; Le Borgne, Tanguy

2013-04-01

Mixing and reactive transport are primarily controlled by the interplay between diffusion, advection and reaction at pore scale. Yet, how the distribution and spatial correlation of the velocity field at pore scale impact these processes is still an open question. Here we present an experimental investigation of the distribution and correlation of pore scale velocities and its relation with upscaled dispersion. We use a quasi two-dimensional (2D) horizontal set up, consisting of two glass plates filled with cylinders representing the grains of the porous medium : the cell is built by soft lithography technique, wich allows for full control of the system geometry. The local velocity field is quantified from particle tracking velocimetry using microspheres that are advected with the pore scale flow. Their displacement is purely advective, as the particle size is chosen large enough to avoid diffusion. We thus obtain particle trajectories as well as lagrangian velocities in the entire system. The measured velocity field shows the existence of a network of preferential flow paths in channels with high velocities, as well as very low velocity in stagnation zones, with a non Gaussian distribution. Lagrangian velocities are long range correlated in time, which implies a non-fickian scaling of the longitudinal variance of particle positions. To upscale this process we develop an effective transport model, based on correlated continous time random walk, which is entirely parametrized by the pore scale velocity distribution and correlation. The model predictions are compared with conservative tracer test data for different Peclet numbers. Furthermore, we investigate the impact of different pore geometries on the distribution and correlation of Lagrangian velocities and we discuss the link between these properties and the effective dispersion behavior.

Determination of the filtration velocities and mean velocity in ground waters using radiotracers

International Nuclear Information System (INIS)

Duran P, Oscar; Diaz V, Francisco; Heresi M, Nelida

1994-01-01

An experimental method to determine filtration, or, Darcy velocity and mean velocity in underground waters using radiotracers, is described. After selecting the most appropriate tracers, from 6 chemical compounds, to measure water velocity, a method to measure filtration velocity was developed. By fully labelling the water column with 2 radioisotopes, Br and tritium, almost identical values were obtained for the aquifer filtration velocity in the sounding S1. This value was 0.04 m/d. Field porosity was calculated at 11% and mean velocity at 0.37 m.d. With the filtration velocity value and knowing the hydraulic variation between the soundings S1 and S2 placed at 10 meters, field permeability was estimated at 2.4 x 10 m/s. (author)

Improved pose and affinity predictions using different protocols tailored on the basis of data availability

Science.gov (United States)

Prathipati, Philip; Nagao, Chioko; Ahmad, Shandar; Mizuguchi, Kenji

2016-09-01

The D3R 2015 grand drug design challenge provided a set of blinded challenges for evaluating the applicability of our protocols for pose and affinity prediction. In the present study, we report the application of two different strategies for the two D3R protein targets HSP90 and MAP4K4. HSP90 is a well-studied target system with numerous co-crystal structures and SAR data. Furthermore the D3R HSP90 test compounds showed high structural similarity to existing HSP90 inhibitors in BindingDB. Thus, we adopted an integrated docking and scoring approach involving a combination of both pharmacophoric and heavy atom similarity alignments, local minimization and quantitative structure activity relationships modeling, resulting in the reasonable prediction of pose [with the root mean square deviation (RMSD) values of 1.75 Å for mean pose 1, 1.417 Å for the mean best pose and 1.85 Å for the mean all poses] and affinity (ROC AUC = 0.702 at 7.5 pIC50 cut-off and R = 0.45 for 180 compounds). The second protein, MAP4K4, represents a novel system with limited SAR and co-crystal structure data and little structural similarity of the D3R MAP4K4 test compounds to known MAP4K4 ligands. For this system, we implemented an exhaustive pose and affinity prediction protocol involving docking and scoring using the PLANTS software which considers side chain flexibility together with protein-ligand fingerprints analysis assisting in pose prioritization. This protocol through fares poorly in pose prediction (with the RMSD values of 4.346 Å for mean pose 1, 4.69 Å for mean best pose and 4.75 Å for mean all poses) and produced reasonable affinity prediction (AUC = 0.728 at 7.5 pIC50 cut-off and R = 0.67 for 18 compounds, ranked 1st among 80 submissions).

Relationship between velocity gradients and magnetic turbulence in the solar wind

International Nuclear Information System (INIS)

Garrett, H.B.

1974-01-01

The correlations among the time derivative of the solar-wind velocity, the magnitude of the interplanetary magnetic field (IMF), and the IMF turbulence level are examined to test the idea that interaction between two colliding solar-wind streams can generate turbulence in the solar wind and the IMF. Data obtained by Explorer 33 on the solar wind and IMF are described, and the analysis techniques are outlined. The results indicate that the IMF turbulence level, as measured by the variance, is correlated with the existence of positive velocity gradients in the solar wind. It is noted that while the variance is an increasing function of the field magnitude, it is also independently correlated with the solar-wind velocity gradient

A Layered Approach for Robust Spatial Virtual Human Pose Reconstruction Using a Still Image

Directory of Open Access Journals (Sweden)

Chengyu Guo

2016-02-01

Full Text Available Pedestrian detection and human pose estimation are instructive for reconstructing a three-dimensional scenario and for robot navigation, particularly when large amounts of vision data are captured using various data-recording techniques. Using an unrestricted capture scheme, which produces occlusions or breezing, the information describing each part of a human body and the relationship between each part or even different pedestrians must be present in a still image. Using this framework, a multi-layered, spatial, virtual, human pose reconstruction framework is presented in this study to recover any deficient information in planar images. In this framework, a hierarchical parts-based deep model is used to detect body parts by using the available restricted information in a still image and is then combined with spatial Markov random fields to re-estimate the accurate joint positions in the deep network. Then, the planar estimation results are mapped onto a virtual three-dimensional space using multiple constraints to recover any deficient spatial information. The proposed approach can be viewed as a general pre-processing method to guide the generation of continuous, three-dimensional motion data. The experiment results of this study are used to describe the effectiveness and usability of the proposed approach.

Radial velocity asymmetries from jets with variable velocity profiles

International Nuclear Information System (INIS)

Cerqueira, A. H.; Vasconcelos, M. J.; Velazquez, P. F.; Raga, A. C.; De Colle, F.

2006-01-01

We have computed a set of 3-D numerical simulations of radiatively cooling jets including variabilities in both the ejection direction (precession) and the jet velocity (intermittence), using the Yguazu-a code. In order to investigate the effects of jet rotation on the shape of the line profiles, we also introduce an initial toroidal rotation velocity profile. Since the Yguazu-a code includes an atomic/ionic network, we are able to compute the emission coefficients for several emission lines, and we generate line profiles for the Hα, [O I]λ6300, [S II]λ6716 and [N II]λ6548 lines. Using initial parameters that are suitable for the DG Tau microjet, we show that the computed radial velocity shift for the medium-velocity component of the line profile as a function of distance from the jet axis is strikingly similar for rotating and non-rotating jet models

Tuning the Fano factor of graphene via Fermi velocity modulation

Science.gov (United States)

Lima, Jonas R. F.; Barbosa, Anderson L. R.; Bezerra, C. G.; Pereira, Luiz Felipe C.

2018-03-01

In this work we investigate the influence of a Fermi velocity modulation on the Fano factor of periodic and quasi-periodic graphene superlattices. We consider the continuum model and use the transfer matrix method to solve the Dirac-like equation for graphene where the electrostatic potential, energy gap and Fermi velocity are piecewise constant functions of the position x. We found that in the presence of an energy gap, it is possible to tune the energy of the Fano factor peak and consequently the location of the Dirac point, by a modulation in the Fermi velocity. Hence, the peak of the Fano factor can be used experimentally to identify the Dirac point. We show that for higher values of the Fermi velocity the Fano factor goes below 1/3 at the Dirac point. Furthermore, we show that in periodic superlattices the location of Fano factor peaks is symmetric when the Fermi velocity vA and vB is exchanged, however by introducing quasi-periodicity the symmetry is lost. The Fano factor usually holds a universal value for a specific transport regime, which reveals that the possibility of controlling it in graphene is a notable result.

Body-part templates for recovery of 2D human poses under occlusion

NARCIS (Netherlands)

Poppe, Ronald Walter; Poel, Mannes; Perales, F.J.; Fisher, R.B.

2008-01-01

Detection of humans and estimation of their 2D poses from a single image are challenging tasks. This is especially true when part of the observation is occluded. However, given a limited class of movements, poses can be recovered given the visible body-parts. To this end, we propose a novel template

Problem-Posing in Education: Transformation of the Practice of the Health Professional.

Science.gov (United States)

Casagrande, L. D. R.; Caron-Ruffino, M.; Rodrigues, R. A. P.; Vendrusculo, D. M. S.; Takayanagui, A. M. M.; Zago, M. M. F.; Mendes, M. D.

1998-01-01

Studied the use of a problem-posing model in health education. The model based on the ideas of Paulo Freire is presented. Four innovative experiences of teaching-learning in environmental and occupational health and patient education are reported. Notes that the problem-posing model has the capability to transform health-education practice.…

Collaborative Random Faces-Guided Encoders for Pose-Invariant Face Representation Learning.

Science.gov (United States)

Shao, Ming; Zhang, Yizhe; Fu, Yun

2018-04-01

Learning discriminant face representation for pose-invariant face recognition has been identified as a critical issue in visual learning systems. The challenge lies in the drastic changes of facial appearances between the test face and the registered face. To that end, we propose a high-level feature learning framework called "collaborative random faces (RFs)-guided encoders" toward this problem. The contributions of this paper are three fold. First, we propose a novel supervised autoencoder that is able to capture the high-level identity feature despite of pose variations. Second, we enrich the identity features by replacing the target values of conventional autoencoders with random signals (RFs in this paper), which are unique for each subject under different poses. Third, we further improve the performance of the framework by incorporating deep convolutional neural network facial descriptors and linking discriminative identity features from different RFs for the augmented identity features. Finally, we conduct face identification experiments on Multi-PIE database, and face verification experiments on labeled faces in the wild and YouTube Face databases, where face recognition rate and verification accuracy with Receiver Operating Characteristic curves are rendered. In addition, discussions of model parameters and connections with the existing methods are provided. These experiments demonstrate that our learning system works fairly well on handling pose variations.

Velocity control of servo systems using an integral retarded algorithm.

Science.gov (United States)

Ramírez, Adrián; Garrido, Rubén; Mondié, Sabine

2015-09-01

This paper presents a design technique for the delay-based controller called Integral Retarded (IR), and its applications to velocity control of servo systems. Using spectral analysis, the technique yields a tuning strategy for the IR by assigning a triple real dominant root for the closed-loop system. This result ultimately guarantees a desired exponential decay rate σ(d) while achieving the IR tuning as explicit function of σ(d) and system parameters. The intentional introduction of delay allows using noisy velocity measurements without additional filtering. The structure of the controller is also able to avoid velocity measurements by using instead position information. The IR is compared to a classical PI, both tested in a laboratory prototype. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Pose Estimation of Interacting People using Pictorial Structures

DEFF Research Database (Denmark)

Fihl, Preben; Moeslund, Thomas B.

2010-01-01

Pose estimation of people have had great progress in recent years but so far research has dealt with single persons. In this paper we address some of the challenges that arise when doing pose estimation of interacting people. We build on the pictorial structures framework and make important...... contributions by combining color-based appearance and edge information using a measure of the local quality of the appearance feature. In this way we not only combine the two types of features but dynamically find the optimal weighting of them. We further enable the method to handle occlusions by searching...... a foreground mask for possible occluded body parts and then applying extra strong kinematic constraints to find the true occluded body parts. The effect of applying our two contributions are show through both qualitative and quantitative tests and show a clear improvement on the ability to correctly localize...

Lossy effects on the lateral shifts in negative-phase-velocity medium

International Nuclear Information System (INIS)

You Yuan

2009-01-01

Theoretical investigations of the lateral shifts of the reflected and transmitted beams were performed, using the stationary-phase approach, for the planar interface of a conventional medium and a lossy negative-phase-velocity medium. The lateral shifts exhibit different behaviors beyond and below a certain angle, for both incident p-polarized and incident s-polarized plane waves. Loss in the negative-phase-velocity medium affects lateral shifts greatly, and may cause changes from negative to positive values for p-polarized incidence

A Map of the Local Velocity Substructure in the Milky Way Disk

Energy Technology Data Exchange (ETDEWEB)

Pearl, Alan N.; Newberg, Heidi Jo; Smith, R. Fiona [Department of Physics, Applied Physics and Astronomy, Rensselaer Polytechnic Institute, Troy, NY 12180 (United States); Carlin, Jeffrey L. [LSST, 933 North Cherry Avenue, Tucson, AZ 85721 (United States)

2017-10-01

We confirm, quantify, and provide a table of the coherent velocity substructure of the Milky Way disk within 2 kpc of the Sun toward the Galactic anticenter, with a 0.2 kpc resolution. We use the radial velocities of ∼340,000 F-type stars obtained with the Guoshoujing Telescope (also known as the Large Sky Area Multi-Object Fiber Spectroscopic Telescope, LAMOST), and proper motions derived from the PPMXL catalog. The PPMXL proper motions have been corrected to remove systematic errors by subtracting the average proper motions of galaxies and QSOs that have been confirmed in the LAMOST spectroscopic survey, and that are within 2.°5 of the star’s position. We provide the resulting table of systematic offsets derived from the PPMXL proper motion measurements of extragalactic objects identified in the LAMOST spectroscopic survey. Using the corrected phase-space stellar sample, we find statistically significant deviations in the bulk disk velocity of 20 km s{sup −1} or more in the three-dimensional velocities of Galactic disk stars. The bulk velocity varies significantly over length scales of half a kiloparsec or less. The rotation velocity of the disk increases by 20 km s{sup −1} from the Sun’s position to 1.5 kpc outside the solar circle. Disk stars in the second quadrant, within 1 kpc of the Sun, are moving radially toward the Galactic center and vertically toward a point a few tenths of a kiloparsec above the Galactic plane; looking down on the disk, the stars appear to move in a circular streaming motion with a radius of the order of 1 kpc.

The Effects of Problem Posing on Student Mathematical Learning: A Meta-Analysis

Science.gov (United States)

Rosli, Roslinda; Capraro, Mary Margaret; Capraro, Robert M.

2014-01-01

The purpose of the study was to meta-synthesize research findings on the effectiveness of problem posing and to investigate the factors that might affect the incorporation of problem posing in the teaching and learning of mathematics. The eligibility criteria for inclusion of literature in the meta-analysis was: published between 1989 and 2011,…

Linear velocity fields in non-Gaussian models for large-scale structure

Science.gov (United States)

Scherrer, Robert J.

1992-01-01

Linear velocity fields in two types of physically motivated non-Gaussian models are examined for large-scale structure: seed models, in which the density field is a convolution of a density profile with a distribution of points, and local non-Gaussian fields, derived from a local nonlinear transformation on a Gaussian field. The distribution of a single component of the velocity is derived for seed models with randomly distributed seeds, and these results are applied to the seeded hot dark matter model and the global texture model with cold dark matter. An expression for the distribution of a single component of the velocity in arbitrary local non-Gaussian models is given, and these results are applied to such fields with chi-squared and lognormal distributions. It is shown that all seed models with randomly distributed seeds and all local non-Guassian models have single-component velocity distributions with positive kurtosis.

Trotting Gait of a Quadruped Robot Based on the Time-Pose Control Method

Directory of Open Access Journals (Sweden)

Cai RunBin

2013-02-01

Full Text Available We present the Time-Pose control method for the trotting gait of a quadruped robot on flat ground and up a slope. The method, with brief control structure, real-time operation ability and high adaptability, divides quadruped robot control into gait control and pose control. Virtual leg and intuitive controllers are introduced to simplify the model and generate the trajectory of mass centre and location of supporting legs in gait control, while redundancy optimization is used for solving the inverse kinematics in pose control. The models both on flat ground and up a slope are fully analysed, and different kinds of optimization methods are compared using the manipulability measure in order to select the best option. Simulations are performed, which prove that the Time-Pose control method is realizable for these two kinds of environment.

Perturbation-Based Regularization for Signal Estimation in Linear Discrete Ill-posed Problems

KAUST Repository

Suliman, Mohamed Abdalla Elhag; Ballal, Tarig; Al-Naffouri, Tareq Y.

2016-01-01

Estimating the values of unknown parameters from corrupted measured data faces a lot of challenges in ill-posed problems. In such problems, many fundamental estimation methods fail to provide a meaningful stabilized solution. In this work, we propose a new regularization approach and a new regularization parameter selection approach for linear least-squares discrete ill-posed problems. The proposed approach is based on enhancing the singular-value structure of the ill-posed model matrix to acquire a better solution. Unlike many other regularization algorithms that seek to minimize the estimated data error, the proposed approach is developed to minimize the mean-squared error of the estimator which is the objective in many typical estimation scenarios. The performance of the proposed approach is demonstrated by applying it to a large set of real-world discrete ill-posed problems. Simulation results demonstrate that the proposed approach outperforms a set of benchmark regularization methods in most cases. In addition, the approach also enjoys the lowest runtime and offers the highest level of robustness amongst all the tested benchmark regularization methods.

Perturbation-Based Regularization for Signal Estimation in Linear Discrete Ill-posed Problems

KAUST Repository

Suliman, Mohamed Abdalla Elhag

2016-11-29

Estimating the values of unknown parameters from corrupted measured data faces a lot of challenges in ill-posed problems. In such problems, many fundamental estimation methods fail to provide a meaningful stabilized solution. In this work, we propose a new regularization approach and a new regularization parameter selection approach for linear least-squares discrete ill-posed problems. The proposed approach is based on enhancing the singular-value structure of the ill-posed model matrix to acquire a better solution. Unlike many other regularization algorithms that seek to minimize the estimated data error, the proposed approach is developed to minimize the mean-squared error of the estimator which is the objective in many typical estimation scenarios. The performance of the proposed approach is demonstrated by applying it to a large set of real-world discrete ill-posed problems. Simulation results demonstrate that the proposed approach outperforms a set of benchmark regularization methods in most cases. In addition, the approach also enjoys the lowest runtime and offers the highest level of robustness amongst all the tested benchmark regularization methods.

Propagation of the Semidiurnal Internal Tide: Phase Velocity Versus Group Velocity

Science.gov (United States)

Zhao, Zhongxiang

2017-12-01

The superposition of two waves of slightly different wavelengths has long been used to illustrate the distinction between phase velocity and group velocity. The first-mode M2 and S2 internal tides exemplify such a two-wave model in the natural ocean. The M2 and S2 tidal frequencies are 1.932 and 2 cycles per day, respectively, and their superposition forms a spring-neap cycle in the semidiurnal band. The spring-neap cycle acts like a wave, with its frequency, wave number, and phase being the differences of the M2 and S2 internal tides. The spring-neap cycle and energy of the semidiurnal internal tide propagate at the group velocity. Long-range propagation of M2 and S2 internal tides in the North Pacific is observed by satellite altimetry. Along a 3,400 km beam spanning 24°-54°N, the M2 and S2 travel times are 10.9 and 11.2 days, respectively. For comparison, it takes the spring-neap cycle 21.1 days to travel over this distance. Spatial maps of the M2 phase velocity, the S2 phase velocity, and the group velocity are determined from phase gradients of the corresponding satellite observed internal tide fields. The observed phase and group velocities agree with theoretical values estimated using the World Ocean Atlas 2013 annual-mean ocean stratification.

Hand Pose Estimation by Fusion of Inertial and Magnetic Sensing Aided by a Permanent Magnet.

Science.gov (United States)

Kortier, Henk G; Antonsson, Jacob; Schepers, H Martin; Gustafsson, Fredrik; Veltink, Peter H

2015-09-01

Tracking human body motions using inertial sensors has become a well-accepted method in ambulatory applications since the subject is not confined to a lab-bounded volume. However, a major drawback is the inability to estimate relative body positions over time because inertial sensor information only allows position tracking through strapdown integration, but does not provide any information about relative positions. In addition, strapdown integration inherently results in drift of the estimated position over time. We propose a novel method in which a permanent magnet combined with 3-D magnetometers and 3-D inertial sensors are used to estimate the global trunk orientation and relative pose of the hand with respect to the trunk. An Extended Kalman Filter is presented to fuse estimates obtained from inertial sensors with magnetic updates such that the position and orientation between the human hand and trunk as well as the global trunk orientation can be estimated robustly. This has been demonstrated in multiple experiments in which various hand tasks were performed. The most complex task in which simultaneous movements of both trunk and hand were performed resulted in an average rms position difference with an optical reference system of 19.7±2.2 mm whereas the relative trunk-hand and global trunk orientation error was 2.3±0.9 and 8.6±8.7 deg respectively.

Determination of velocity correction factors for real-time air velocity monitoring in underground mines.

Science.gov (United States)

Zhou, Lihong; Yuan, Liming; Thomas, Rick; Iannacchione, Anthony

2017-12-01

When there are installations of air velocity sensors in the mining industry for real-time airflow monitoring, a problem exists with how the monitored air velocity at a fixed location corresponds to the average air velocity, which is used to determine the volume flow rate of air in an entry with the cross-sectional area. Correction factors have been practically employed to convert a measured centerline air velocity to the average air velocity. However, studies on the recommended correction factors of the sensor-measured air velocity to the average air velocity at cross sections are still lacking. A comprehensive airflow measurement was made at the Safety Research Coal Mine, Bruceton, PA, using three measuring methods including single-point reading, moving traverse, and fixed-point traverse. The air velocity distribution at each measuring station was analyzed using an air velocity contour map generated with Surfer ® . The correction factors at each measuring station for both the centerline and the sensor location were calculated and are discussed.

Thermal SiO as a probe of high velocity motions in regions of star formation

International Nuclear Information System (INIS)

Downes, D.; Genzel, R.; Hjalmarson, A.; Nyman, L.A.; Roennaeng, B.

1982-01-01

New observations of the v = 0, J = = 2→1 line of SiO at 86.8 GHz show a close association of the thermal SiO emission and infrared and maser sources in regions of star formation. In addition to SiO emission with low velocity dispersion (Δν -1 ), we report the first detection of high velocity (''plateau'') emission toward W49 and W51. The low velocity SiO component may come from the core of the molecular cloud which contains the infrared and maser sources. The ''plateau'' may indicate mass clusters. In Orion KL, the positional centroid of the high velocity SiO emission (Vertical BarΔνVertical Bar> or =20 km s -1 ) is near that of the component we identify as the ''18 km s -1 flow''. However, the centriods of the blue- and redshifted wings are displaced from each other by a few arcseconds, to the NW and NE of the position of the 18 km s -1 component. The mass-loss rates of the high velocity flow and the 18 km s -1 flow are similar

Robust Pose Estimation using the SwissRanger SR-3000 Camera

DEFF Research Database (Denmark)

Gudmundsson, Sigurjon Arni; Larsen, Rasmus; Ersbøll, Bjarne Kjær

2007-01-01

In this paper a robust method is presented to classify and estimate an objects pose from a real time range image and a low dimensional model. The model is made from a range image training set which is reduced dimensionally by a nonlinear manifold learning method named Local Linear Embedding (LLE)......). New range images are then projected to this model giving the low dimensional coordinates of the object pose in an efficient manner. The range images are acquired by a state of the art SwissRanger SR-3000 camera making the projection process work in real-time....

A radial velocity survey of the Carina Nebula's O-type stars

Science.gov (United States)

Kiminki, Megan M.; Smith, Nathan

2018-03-01

We have obtained multi-epoch observations of 31 O-type stars in the Carina Nebula using the CHIRON spectrograph on the CTIO/SMARTS 1.5-m telescope. We measure their radial velocities to 1-2 km s-1 precision and present new or updated orbital solutions for the binary systems HD 92607, HD 93576, HDE 303312, and HDE 305536. We also compile radial velocities from the literature for 32 additional O-type and evolved massive stars in the region. The combined data set shows a mean heliocentric radial velocity of 0.6 km s-1. We calculate a velocity dispersion of ≤9.1 km s-1, consistent with an unbound, substructured OB association. The Tr 14 cluster shows a marginally significant 5 km s-1 radial velocity offset from its neighbor Tr 16, but there are otherwise no correlations between stellar position and velocity. The O-type stars in Cr 228 and the South Pillars region have a lower velocity dispersion than the region as a whole, supporting a model of distributed massive-star formation rather than migration from the central clusters. We compare our stellar velocities to the Carina Nebula's molecular gas and find that Tr 14 shows a close kinematic association with the Northern Cloud. In contrast, Tr 16 has accelerated the Southern Cloud by 10-15 km s-1, possibly triggering further massive-star formation. The expansion of the surrounding H II region is not symmetric about the O-type stars in radial velocity space, indicating that the ionized gas is constrained by denser material on the far side.

A radial velocity survey of the Carina Nebula's O-type stars

Science.gov (United States)

Kiminki, Megan M.; Smith, Nathan

2018-06-01

We have obtained multi-epoch observations of 31 O-type stars in the Carina Nebula using the CHIRON spectrograph on the CTIO/SMARTS 1.5-m telescope. We measure their radial velocities to 1-2 km s-1 precision and present new or updated orbital solutions for the binary systems HD 92607, HD 93576, HDE 303312, and HDE 305536. We also compile radial velocities from the literature for 32 additional O-type and evolved massive stars in the region. The combined data set shows a mean heliocentric radial velocity of 0.6 km s-1. We calculate a velocity dispersion of ≤9.1 km s-1, consistent with an unbound, substructured OB association. The Tr 14 cluster shows a marginally significant 5 km s-1 radial velocity offset from its neighbour Tr 16, but there are otherwise no correlations between stellar position and velocity. The O-type stars in Cr 228 and the South Pillars region have a lower velocity dispersion than the region as a whole, supporting a model of distributed massive star formation rather than migration from the central clusters. We compare our stellar velocities to the Carina Nebula's molecular gas and find that Tr 14 shows a close kinematic association with the Northern Cloud. In contrast, Tr 16 has accelerated the Southern Cloud by 10-15 km s-1, possibly triggering further massive star formation. The expansion of the surrounding H II region is not symmetric about the O-type stars in radial velocity space, indicating that the ionized gas is constrained by denser material on the far side.

Spatial heterogeneity of biofouling under different cross-flow velocities in reverse osmosis membrane systems

KAUST Repository

Farhat, Nadia; Staal, M.; Bucs, Szilard; Van Loosdrecht, M.C.M.; Vrouwenvelder, Johannes S.

2016-01-01

the spatial heterogeneity of biofilm development over the membrane fouling simulator (MFS) length (inlet and outlet part) at three different cross-flow velocities (0.08, 0.12 and 0.16 m/s). The MFS contained sheets of membrane and feed spacer and simulatedComparison of the inlet and outlet position of the MFS showed a more (i) heterogeneous biofilm distribution and a (ii) higher biological activity at the inlet side (first 2.5 cm) for all cross-flow velocities. The lowest cross-flow velocity had

Strength and Power Correlates of Throwing Velocity on Subelite Male Cricket Players.

Science.gov (United States)

Freeston, Jonathan L; Carter, Thomas; Whitaker, Gary; Nicholls, Owen; Rooney, Kieron B

2016-06-01

Throwing velocity is an important aspect of fielding in cricket to affect run-outs and reduce the opponent's run-scoring opportunities. Although a relationship between strength and/or power and throwing velocity has been well established in baseball, water polo, and European handball, it has not been adequately explored in cricket. Consequently, this study aimed to determine the relationship between measures of strength and/or power and throwing velocity in cricket players. Seventeen male cricket players (mean ± SD; age, 21.1 ± 1.6 years; height, 1.79 ± 0.06 m; weight, 79.8 ± 6.4 kg) from an elite athlete program were tested for maximal throwing velocity from the stretch position and after a 3-meter shuffle. They were also assessed for strength and power using a range of different measures. Throwing velocity from the stretch position (30.5 ± 2.4 m·s) was significantly related to dominant leg lateral-to-medial jump (LMJ) distance (r = 0.71; p velocity and medicine ball chest pass (MB CP) distance (r = 0.67; p bench press strength (p = 0.90), height (p = 0.33), or weight (p = 0.29). Multiple regression analysis revealed that dominant MB Rot and MB CP explained 66% of the variance. The results were similar for velocity after a shuffle step (31.8 ± 2.1 m·s); however, VJ height reached statistical significance (r = 0.51; p ≤ 0.05). The multiple regression was also similar with MB Rot and MB CP explaining 70% of the variance. The cricketers in this study threw with greater velocity than elite junior and subelite senior cricketers but with lower velocities than elite senior cricketers and collegiate level and professional baseball players. This is the first study to demonstrate a link between strength and/or power and throwing velocity in cricket players and highlight the importance of power development as it relates to throwing velocity. Exercises that more closely simulated the speed (body weight jumps and medicine ball throws) or movement pattern (shoulder IR

Throwing velocity and kinematics in elite male water polo players.

Science.gov (United States)

Melchiorri, G; Padua, E; Padulo, J; D'Ottavio, S; Campagna, S; Bonifazi, M

2011-12-01

Fifty-three members of the Italian Men Water Polo Team were filmed using two synchronized cameras, while they were shooting a goal. Considering the differences in body mass, height, training strategies and the technical-tactical features of the players, the aims of this study were to employ video-analysis techniques in order to investigate selected kinematic parameters in water polo throwing, and to provide comprehensive quantitative information on the throwing movement in relation to the different team player positions. Video analysis was used to estimate the elbow angle at release, the shoulder angle at follow through, the back and head height at ball release, trunk rotation angle and ball velocity at release. Ball release velocities ranged from 21.0 to 29.8 m/s (average value 25.3±1.4 m/s), for field players. Goal keepers show the lowest team values (average 21.7±0.3 m/s). Similar to previous study results, ball release was typically reached just prior to the elbow approaching full extension (151.6±3.6°), and the follow through shoulder angle was 143±5.9°. No significant statistical difference was recorded between injured and non-injured athletes. No positive association was demonstrated between physical characteristics (body mass and height) and ball velocity.

Evolution of semilocal string networks. II. Velocity estimators

Science.gov (United States)

Lopez-Eiguren, A.; Urrestilla, J.; Achúcarro, A.; Avgoustidis, A.; Martins, C. J. A. P.

2017-07-01

We continue a comprehensive numerical study of semilocal string networks and their cosmological evolution. These can be thought of as hybrid networks comprised of (nontopological) string segments, whose core structure is similar to that of Abelian Higgs vortices, and whose ends have long-range interactions and behavior similar to that of global monopoles. Our study provides further evidence of a linear scaling regime, already reported in previous studies, for the typical length scale and velocity of the network. We introduce a new algorithm to identify the position of the segment cores. This allows us to determine the length and velocity of each individual segment and follow their evolution in time. We study the statistical distribution of segment lengths and velocities for radiation- and matter-dominated evolution in the regime where the strings are stable. Our segment detection algorithm gives higher length values than previous studies based on indirect detection methods. The statistical distribution shows no evidence of (anti)correlation between the speed and the length of the segments.

Alignments of the galaxies in and around the Virgo cluster with the local velocity shear

International Nuclear Information System (INIS)

Lee, Jounghun; Rey, Soo Chang; Kim, Suk

2014-01-01

Observational evidence is presented for the alignment between the cosmic sheet and the principal axis of the velocity shear field at the position of the Virgo cluster. The galaxies in and around the Virgo cluster from the Extended Virgo Cluster Catalog that was recently constructed by Kim et al. are used to determine the direction of the local sheet. The peculiar velocity field reconstructed from the Sloan Digital Sky Survey Data Release 7 is analyzed to estimate the local velocity shear tensor at the Virgo center. Showing first that the minor principal axis of the local velocity shear tensor is almost parallel to the direction of the line of sight, we detect a clear signal of alignment between the positions of the Virgo satellites and the intermediate principal axis of the local velocity shear projected onto the plane of the sky. Furthermore, the dwarf satellites are found to appear more strongly aligned than their normal counterparts, which is interpreted as an indication of the following. (1) The normal satellites and the dwarf satellites fall in the Virgo cluster preferentially along the local filament and the local sheet, respectively. (2) The local filament is aligned with the minor principal axis of the local velocity shear while the local sheet is parallel to the plane spanned by the minor and intermediate principal axes. Our result is consistent with the recent numerical claim that the velocity shear is a good tracer of the cosmic web.

Binary classification posed as a quadratically constrained quadratic ...

Indian Academy of Sciences (India)

Binary classification is posed as a quadratically constrained quadratic problem and solved using the proposed method. Each class in the binary classification problem is modeled as a multidimensional ellipsoid to forma quadratic constraint in the problem. Particle swarms help in determining the optimal hyperplane or ...

Developing teachers' subject didactic competence through problem posing

Czech Academy of Sciences Publication Activity Database

Tichá, Marie; Hošpesová, A.

2013-01-01

Roč. 83, č. 1 (2013), s. 133-143 ISSN 0013-1954 Institutional support: RVO:67985840 Keywords : professional development * primary school teachers * problem posing Subject RIV: AM - Education Impact factor: 0.639, year: 2013 http://link.springer.com/article/10.1007%2Fs10649-012-9455-1

Air velocity profiles near sleeve blockages in an unheated 7 x 7 rod bundle. [PWR

Energy Technology Data Exchange (ETDEWEB)

Creer, J. M.; Bates, J. M.

1979-04-01

Local air velocity measurements were obtained with a laser Doppler anemometer near flow blockages in an unheated 7 x 7 rod bundle. Sleeve blockages were positioned on the center nine rods to create an area reduction of 90% in the center four subchannels of the bundle. Experimental results indicated that severe flow disturbances occurred downstream from the blockage cluster but showed only minor flow disturbances upstream from the blockage. Flow reversals were detected downstream from the blockage and persisted for approximately five subchannel hydraulic diameters. The air velocity profiles were in excellent agreement with water velocity data previously obtained at essentially the same Reynolds number. Subchannel average velocity predictions obtained with the COBRA computer program were in good agreement with subchannel average velocities estimated using the measured local velocity data.

Velocity Feedback Experiments

Directory of Open Access Journals (Sweden)

Chiu Choi

2017-02-01

Full Text Available Transient response such as ringing in a control system can be reduced or removed by velocity feedback. It is a useful control technique that should be covered in the relevant engineering laboratory courses. We developed velocity feedback experiments using two different low cost technologies, viz., operational amplifiers and microcontrollers. These experiments can be easily integrated into laboratory courses on feedback control systems or microcontroller applications. The intent of developing these experiments was to illustrate the ringing problem and to offer effective, low cost solutions for removing such problem. In this paper the pedagogical approach for these velocity feedback experiments was described. The advantages and disadvantages of the two different implementation of velocity feedback were discussed also.

Impacts of GNSS position offsets on global frame stability

Science.gov (United States)

Griffiths, Jake; Ray, Jim

2014-05-01

Positional offsets appear in Global Navigation Satellite System (GNSS) time series for a variety of reasons. Antenna or radome changes are the most common cause for these discontinuities. Many others are from earthquakes, receiver changes, and different anthropogenic modifications at or near the stations. Some jumps appear for unknown or undocumented reasons. The accurate determination of station velocities, and therefore geophysical parameters and terrestrial reference frames, requires that positional offsets be correctly found and compensated. Williams (2003) found that undetected offsets introduce a random walk error component in individual station time series. The topic of detecting positional offsets has received considerable attention in recent years (e.g., Detection of Offsets in GPS Experiment; DOGEx), and most research groups using GNSS have adopted a combination of manual and automated methods for finding them. The removal of a positional offset is usually handled by estimating the average station position on both sides of the discontinuity, assuming a constant, continuous velocity. This is sufficient in the absence of time-correlated errors. However, GNSS time series contain systematic and power-law errors (white to random walk noise). In this paper, we aim to evaluate the impact to both individual station results and the overall stability of the global reference frame from adding increasing numbers of positional discontinuities. We use the International GNSS Service (IGS) weekly SINEX files, and iteratively insert positional offset parameters at the midpoint of each data segment. Each iteration includes a restacking of the modified SINEX files using the CATREF software from Institut National de l'Information Géographique et Forestière (IGN) to estimate: regularized station positions, secular velocities, Earth orientation parameters, Helmert frame alignment parameters, and the empirical shifts across all positional discontinuities. A comparison of the

Evaluation of ADCP apparent bed load velocity in a large sand-bed river: Moving versus stationary boat conditions

Science.gov (United States)

Jamieson, E.C.; Rennie, C.D.; Jacobson, R.B.; Townsend, R.D.

2011-01-01

Detailed mapping of bathymetry and apparent bed load velocity using a boat-mounted acoustic Doppler current profiler (ADCP) was carried out along a 388-m section of the lower Missouri River near Columbia, Missouri. Sampling transects (moving boat) were completed at 5- and 20-m spacing along the study section. Stationary (fixed-boat) measurements were made by maintaining constant boat position over a target point where the position of the boat did not deviate more than 3 m in any direction. For each transect and stationary measurement, apparent bed load velocity (vb) was estimated using ADCP bottom tracking data and high precision real-time kinematic (RTK) global positioning system (GPS). The principal objectives of this research are to (1) determine whether boat motion introduces a bias in apparent bed load velocity measurements; and (2) evaluate the reliability of ADCP bed velocity measurements for a range of sediment transport environments. Results indicate that both high transport (vb>0.6 m/s) and moving-boat conditions (for both high and low transport environments) increase the relative variability in estimates of mean bed velocity. Despite this, the spatially dense single-transect measurements were capable of producing detailed bed velocity maps that correspond closely with the expected pattern of sediment transport over large dunes. ?? 2011 American Society of Civil Engineers.

Controlled pump with internal toothed gears during four-quadrant operation. Velocity- and position control of a hydraulic handling device; Geregelte Innenzahnradpumpe im Mehrquadrantenbetrieb. Geschwindigkeits- und Positionsregelung eines hydraulischen Handlinggeraetes

Energy Technology Data Exchange (ETDEWEB)

Dahmann, P. [Fachhochschule Aachen (Germany). FB Luft- und Raumfahrttechnik; Hagemeister, W. [IGH, Essen (Germany); Nagel, G.; Exner, P. [Voith Turbo, Heidenheim (Germany)

2006-07-01

The drive of a handling device (weight 3t) is realized by an hydrocylinder, which is directly connected with the pressure side of a pump with internal toothed gears. The drive speed is generated by a frequency controlled electric motor. As a result for frequency-controlled drive can be noted less noise formation, less heat generation, an energy efficienct operation as a simple control- and regulation possibilities for position and velocities. (GL)

Positional Match Running Performance in Elite Gaelic Football.

Science.gov (United States)

Malone, Shane; Solan, Barry; Collins, Kieran D; Doran, Dominic A

2016-08-01

Malone, S, Solan, B, Collins, KD, and Doran, DA. Positional match running performance in elite Gaelic football. J Strength Cond Res 30(8): 2292-2298, 2016-There is currently limited information available on match running performance in Gaelic football. The objective of the current study was to report on the match running profile of elite male Gaelic football and assess positional running performance. In this observational study, 50 elite male Gaelic football players wore 4-Hz global positioning systems units (VX Sports) across 30 competitive games with a total of 215 full game data sets collected. Activity was classed according to total distance, high-speed distance (≥17 km·h), sprint distance (≥22 km·h), mean velocity (km·h), peak velocity (km·h), and number of accelerations. The average match distance was 8,160 ± 1,482 m, reflective of a relative distance of 116 ± 21 m·min, with 1,731 ± 659 m covered at high speed, which is reflective of a relative high-speed distance of 25 ± 9 m·min. The observed sprint distance was 445 ± 169 m distributed across 44 sprint actions. The peak velocity was 30.3 ± 1.8 km·h with a mean velocity of 6.5 ± 1.2 km·h. Players completed 184 ± 40 accelerations, which represent 2.6 ± 0.5 accelerations per minute. There were significant differences between positional groups for both total running distance, high-speed running distance, and sprint distance, with midfielders covering more total and high-speed running distance, compared with other positions (p football match play.

The velocity of sound

International Nuclear Information System (INIS)

Beyer, R.T.

1985-01-01

The paper reviews the work carried out on the velocity of sound in liquid alkali metals. The experimental methods to determine the velocity measurements are described. Tables are presented of reported data on the velocity of sound in lithium, sodium, potassium, rubidium and caesium. A formula is given for alkali metals, in which the sound velocity is a function of shear viscosity, atomic mass and atomic volume. (U.K.)

Inertial measurement unit–based iterative pose compensation algorithm for low-cost modular manipulator

Directory of Open Access Journals (Sweden)

Yunhan Lin

2016-01-01

Full Text Available It is a necessary mean to realize the accurate motion control of the manipulator which uses end-effector pose correction method and compensation method. In this article, first, we established the kinematic model and error model of the modular manipulator (WUST-ARM, and then we discussed the measurement methods and precision of the inertial measurement unit sensor. The inertial measurement unit sensor is mounted on the end-effector of modular manipulator, to get the real-time pose of the end-effector. At last, a new inertial measurement unit–based iterative pose compensation algorithm is proposed. By applying this algorithm in the pose compensation experiment of modular manipulator which is composed of low-cost rotation joints, the results show that the inertial measurement unit can obtain a higher precision when in static state; it will accurately feedback to the control system with an accurate error compensation angle after a brief delay when the end-effector moves to the target point, and after compensation, the precision errors of roll angle, pitch angle, and yaw angle are reached at 0.05°, 0.01°, and 0.27° respectively. It proves that this low-cost method provides a new solution to improve the end-effector pose of low-cost modular manipulator.

Isolated Bacterial Spores at High-velocity Survive Surface Impacts in Vacuum

Science.gov (United States)

Austin, Daniel; Barney, Brandon

We present experiments in which bacterial spores were found to survive being accelerated in vacuum to velocities in the range 30-120 m/s and impacted on a dense target. In these experiments, spores of Bacillus subtilis spores were charged using electrospray at atmospheric pressure, dried, and then introduced into high vacuum. Through choice of skimmers and beam tubes, different velocity ranges were achieved. An image-charge detector observed the charged spores, providing total charge and velocity. The spores then impacted a glass target within a collection vessel. After the experiment, the collection vessel contents were extracted and cultured. Several positive and negative controls were used, including the use of antibiotic-resistant spores and antibiotic-containing (rifampicin) agar for culturing. These impact velocities are of particular interest for possible transport of bacterial spores from Mars to Phobos, and may have implications for planetary protection in a Phobos sample return mission. In addition, bacteria may reach similar velocities during a spacecraft crash (e.g., within components, or from spacecraft to surface materials during impact, etc.), raising concerns about forward contamination. The velocities of interest to transport of life between planets (panspermia) are somewhat higher, but these results complement shock-based experiments and contribute to the general discussion of impact survivability of organisms.

Health Issues: Do Cell Phones Pose a Health Hazard?

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... Procedures Home, Business, and Entertainment Products Cell Phones Health Issues Share Tweet Linkedin Pin it More sharing ... it Email Print Do cell phones pose a health hazard? Many people are concerned that cell phone ...

LEVELING STUDENTS’ CREATIVE THINKING IN SOLVING AND POSING MATHEMATICAL PROBLEM

Directory of Open Access Journals (Sweden)

Tatag Yuli Eko Siswono

2010-07-01

Full Text Available Many researchers assume that people are creative, but their degree ofcreativity is different. The notion of creative thinking level has beendiscussed .by experts. The perspective of mathematics creative thinkingrefers to a combination of logical and divergent thinking which is basedon intuition but has a conscious aim. The divergent thinking is focusedon flexibility, fluency, and novelty in mathematical problem solving andproblem posing. As students have various backgrounds and differentabilities, they possess different potential in thinking patterns,imagination, fantasy and performance; therefore, students have differentlevels of creative thinking. A research study was conducted in order todevelop a framework for students’ levels of creative thinking inmathematics. This research used a qualitative approach to describe thecharacteristics of the levels of creative thinking. Task-based interviewswere conducted to collect data with ten 8thgrade junior secondary schoolstudents. The results distinguished five levels of creative thinking,namely level 0 to level 4 with different characteristics in each level.These differences are based on fluency, flexibility, and novelty inmathematical problem solving and problem posing.Keywords: student’s creative thinking, problem posing, flexibility,fluency, novelty DOI: http://dx.doi.org/10.22342/jme.1.1.794.17-40

Comparison On Matching Methods Used In Pose Tracking For 3D Shape Representation

Directory of Open Access Journals (Sweden)

Khin Kyu Kyu Win

2017-01-01

Full Text Available In this work three different algorithms such as Brute Force Delaunay Triangulation and k-d Tree are analyzed on matching comparison for 3D shape representation. It is intended for developing the pose tracking of moving objects in video surveillance. To determine 3D pose of moving objects some tracking system may require full 3D pose estimation of arbitrarily shaped objects in real time. In order to perform 3D pose estimation in real time each step in the tracking algorithm must be computationally efficient. This paper presents method comparison for the computationally efficient registration of 3D shapes including free-form surfaces. Matching of free-form surfaces are carried out by using geometric point matching algorithm ICP. Several aspects of the ICP algorithm are investigated and analyzed by using specified surface setup. The surface setup processed in this system is represented by simple geometric primitive dealing with objects of free-from shape. Considered representations are a cloud of points.

Premotor neurons encode torsional eye velocity during smooth-pursuit eye movements

Science.gov (United States)

Angelaki, Dora E.; Dickman, J. David

2003-01-01

Responses to horizontal and vertical ocular pursuit and head and body rotation in multiple planes were recorded in eye movement-sensitive neurons in the rostral vestibular nuclei (VN) of two rhesus monkeys. When tested during pursuit through primary eye position, the majority of the cells preferred either horizontal or vertical target motion. During pursuit of targets that moved horizontally at different vertical eccentricities or vertically at different horizontal eccentricities, eye angular velocity has been shown to include a torsional component the amplitude of which is proportional to half the gaze angle ("half-angle rule" of Listing's law). Approximately half of the neurons, the majority of which were characterized as "vertical" during pursuit through primary position, exhibited significant changes in their response gain and/or phase as a function of gaze eccentricity during pursuit, as if they were also sensitive to torsional eye velocity. Multiple linear regression analysis revealed a significant contribution of torsional eye movement sensitivity to the responsiveness of the cells. These findings suggest that many VN neurons encode three-dimensional angular velocity, rather than the two-dimensional derivative of eye position, during smooth-pursuit eye movements. Although no clear clustering of pursuit preferred-direction vectors along the semicircular canal axes was observed, the sensitivity of VN neurons to torsional eye movements might reflect a preservation of similar premotor coding of visual and vestibular-driven slow eye movements for both lateral-eyed and foveate species.

A Unified Geodetic Vertical Velocity Field (UGVVF), Version 1.0

Science.gov (United States)

Schmalzle, G.; Wdowinski, S.

2014-12-01

Tectonic motion, volcanic inflation or deflation, as well as oil, gas and water pumping can induce vertical motion. In southern California these signals are inter-mingled. In tectonics, properly identifying regions that are contaminated by other signals can be important when estimating fault slip rates. Until recently vertical deformation rates determined by high precision Global Positioning Systems (GPS) had large uncertainties compared to horizontal components and were rarely used to constrain tectonic models of fault motion. However, many continuously occupied GPS stations have been operating for ten or more years, often delivering uncertainties of ~1 mm/yr or less, providing better constraints for tectonic modeling. Various processing centers produced GPS time series and estimated vertical velocity fields, each with their own set of processing techniques and assumptions. We compare vertical velocity solutions estimated by seven data processing groups as well as two combined solutions (Figure 1). These groups include: Central Washington University (CWU) and New Mexico Institute of Technology (NMT), and their combined solution provided by the Plate Boundary Observatory (PBO) through the UNAVCO website. Also compared are the Jet Propulsion Laboratory (JPL) and Scripps Orbit and Permanent Array Center (SOPAC) and their combined solution provided as part of the NASA MEaSUREs project. Smaller velocity fields included are from Amos et al., 2014, processed at the Nevada Geodetic Laboratory, Shen et al., 2011, processed by UCLA and called the Crustal Motion Map 4.0 (CMM4) dataset, and a new velocity field provided by the University of Miami (UM). Our analysis includes estimating and correcting for systematic vertical velocity and uncertainty differences between groups. Our final product is a unified velocity field that contains the median values of the adjusted velocity fields and their uncertainties. This product will be periodically updated when new velocity fields

Nerve conduction velocity

Science.gov (United States)

... this page: //medlineplus.gov/ency/article/003927.htm Nerve conduction velocity To use the sharing features on this page, please enable JavaScript. Nerve conduction velocity (NCV) is a test to see ...

Combining Front Vehicle Detection with 3D Pose Estimation for a Better Driver Assistance

Directory of Open Access Journals (Sweden)

Yu Peng

2012-09-01

Full Text Available Driver assistant systems enhance traffic safety and efficiency. The accurate 3D pose of a front vehicle can help a driver to make the right decision on the road. We propose a novel real-time system to estimate the 3D pose of the front vehicle. This system consists of two parallel threads: vehicle rear tracking and mapping. The vehicle rear is first identified in the video captured by an onboard camera, after license plate localization and foreground extraction. The 3D pose estimation technique is then employed with respect to the extracted vehicle rear. Most current 3D pose estimation techniques need prior models or a stereo initialization with user cooperation. It is extremely difficult to obtain prior models due to the varying appearance of vehicles' rears. Moreover, it is unsafe to ask for drivers' cooperation when a vehicle is running. In our system, two initial keyframes for stereo algorithms are automatically extracted by vehicle rear detection and tracking. Map points are defined as a collection of point features extracted from the vehicle's rear with their 3D information. These map points are inferences that relate the 2D features detected in following vehicles' rears with the 3D world. The relative 3D pose of the onboard camera to the front vehicle rear is then estimated through matching the map points with point features detected on the front vehicle rear. We demonstrate the capabilities of our system by testing on real-time and synthesized videos. In order to make the experimental analysis visible, we demonstrated an estimated 3D pose through augmented reality, which needs accurate and real-time 3D pose estimation.

Perbedaan Keterampilan Pemecahan Masalah pada Pembelajaran Fisika Menggunakan Metode Problem Posing dan Problem Solving

OpenAIRE

Rahman, Adetya; Hartini, Sri; An'nur, Syubhan

2015-01-01

Teachers should be able to choose the method of learning that can help students in learning physics, namely the method of problem posing and problem solving method. The purposes of this study are : (1) describe the learning physics skills by using problem posing method, (2) describe the learning physics skills by using problem solving method, and (3) know difference between learning physics skills by using problem posing method and problem solving method in class XI of Science SMAN 6 Banjarma...

The Effect of Problem Solving and Problem Posing Models and Innate Ability to Students Achievement

Directory of Open Access Journals (Sweden)

Ratna Kartika Irawati

2015-04-01

Full Text Available Pengaruh Model Problem Solving dan Problem Posing serta Kemampuan Awal terhadap Hasil Belajar Siswa   Abstract: Chemistry concepts understanding features abstract quality and requires higher order thinking skills. Yet, the learning on chemistry has not boost the higher order thinking skills of the students. The use of the learning model of Problem Solving and Problem Posing in observing the innate ability of the student is expected to resolve the issue. This study aims to determine the learning model which is effective to improve the study of the student with different level of innate ability. This study used the quasi-experimental design. The research data used in this research is the quiz/test of the class which consist of 14 multiple choice questions and 5 essay questions. The data analysis used is ANOVA Two Ways. The results showed that Problem Posing is more effective to improve the student compared to Problem Solving, students with high level of innate ability have better outcomes in learning rather than the students with low level of innate ability after being applied with the Problem solving and Problem posing model, further, Problem Solving and Problem Posing is more suitable to be applied to the students with high level of innate ability. Key Words: problem solving, problem posing, higher order thinking skills, innate ability, learning outcomes   Abstrak: Pemahaman konsep-konsep kimia yang bersifat abstrak membutuhkan keterampilan berpikir tingkat tinggi. Pembelajaran kimia belum mendorong siswa melakukan keterampilan berpikir tingkat tinggi. Penggunaan model pembelajaran Problem Solving dan Problem Posing dengan memperhatikan kemampuan awal siswa diduga dapat mengatasi masalah tersebut. Penelitian ini bertujuan untuk mengetahui model pembelajaran yang efektif dalam meningkatkan hasil belajar dengan kemampuan awal siswa yang berbeda. Penelitian ini menggunakan rancangan eksperimen semu. Data penelitian menggunakan tes hasil belajar

Design of a Two-Stage Light Gas Gun for Muzzle Velocities of 10 - 11 kms

Science.gov (United States)

Bogdanoff, David W.

2016-01-01

Space debris poses a major risk to spacecraft. In low earth orbit, impact velocities can be 10 11 kms and as high as 15 kms. For debris shield design, it would be desirable to be able to launch controlled shape projectiles to these velocities. The design of the proposed 10 11 kmsec gun uses, as a starting point, the Ames 1.280.22 two stage gun, which has achieved muzzle velocities of 10 11.3 kmsec. That gun is scaled up to a 0.3125 launch tube diameter. The gun is then optimized with respect to maximum pressures by varying the pump tube length to diameter ratio (LD), the piston mass and the hydrogen pressure. A pump tube LD of 36.4 is selected giving the best overall performance. Piezometric ratios for the optimized guns are found to be 2.3, much more favorable than for more traditional two stage light gas guns, which range from 4 to 6. The maximum powder chamber pressures are 20 to 30 ksi. To reduce maximum pressures, the desirable range of the included angle of the cone of the high pressure coupling is found to be 7.3 to 14.6 degrees. Lowering the break valve rupture pressure is found to lower the maximum projectile base pressure, but to raise the maximum gun pressure. For the optimized gun with a pump tube LD of 36.4, increasing the muzzle velocity by decreasing the projectile mass and increasing the powder loads is studied. It appears that saboted spheres could be launched to 10.25 and possibly as high as 10.7 10.8 kmsec, and that disc-like plastic models could be launched to 11.05 kms. The use of a tantalum liner to greatly reduce bore erosion and increase muzzle velocity is discussed. With a tantalum liner, CFD code calculations predict muzzle velocities as high as 12 to 13 kms.

Determination of velocity correction factors for real-time air velocity monitoring in underground mines

OpenAIRE

Zhou, Lihong; Yuan, Liming; Thomas, Rick; Iannacchione, Anthony

2017-01-01

When there are installations of air velocity sensors in the mining industry for real-time airflow monitoring, a problem exists with how the monitored air velocity at a fixed location corresponds to the average air velocity, which is used to determine the volume flow rate of air in an entry with the cross-sectional area. Correction factors have been practically employed to convert a measured centerline air velocity to the average air velocity. However, studies on the recommended correction fac...

Fraction Multiplication and Division Word Problems Posed by Different Years of Pre-Service Elementary Mathematics Teachers

Directory of Open Access Journals (Sweden)

Tuba Aydogdu Iskenderoglu

2018-04-01

Full Text Available It is important for pre-service teachers to know the conceptual difficulties they have experienced regarding the concepts of multiplication and division in fractions and problem posing is a way to learn these conceptual difficulties. Problem posing is a synthetic activity that fundamentally has multiple answers. The purpose of this study is to analyze the multiplication and division of fractions problems posed by pre-service elementary mathematics teachers and to investigate how the problems posed change according to the year of study the pre-service teachers are in. The study employed developmental research methods. A total of 213 pre-service teachers enrolled in different years of the Elementary Mathematics Teaching program at a state university in Turkey took part in the study. The “Problem Posing Test” was used as the data collecting tool. In this test, there are 3 multiplication and 3 division operations. The data were analyzed using qualitative descriptive analysis. The findings suggest that, regardless of the year, pre-service teachers had more conceptual difficulties in problem posing about the division of fractions than in problem posing about the multiplication of fractions.

Meanings Given to Algebraic Symbolism in Problem-Posing

Science.gov (United States)

Cañadas, María C.; Molina, Marta; del Río, Aurora

2018-01-01

Some errors in the learning of algebra suggest that students might have difficulties giving meaning to algebraic symbolism. In this paper, we use problem posing to analyze the students' capacity to assign meaning to algebraic symbolism and the difficulties that students encounter in this process, depending on the characteristics of the algebraic…

Limitations on Inferring 3D Architecture and Dynamics From Surface Velocities in the India-Eurasia Collision Zone

Science.gov (United States)

Flesch, L.; Bendick, R.; Bischoff, S.

2018-02-01

Surface velocities derived from Global Positioning System observations and Quaternary fault slip rates measured throughout an extended region of high topography in South Asia vary smoothly over thousands of kilometers and are broadly symmetrical, with components of both north-south shortening and east-west extension relative to stable Eurasia. The observed velocity field does not contain discontinuities or steep gradients attributable to along-strike differences in collision architecture, despite the well-documented presence of a lithospheric slab beneath the Pamir but not the Tibetan Plateau. We use a modified Akaike information criterion (AICc) to show that surface velocities do not efficiently constrain 3D rheology, geometry, or force balance. Therefore, although other geophysical and geological observations may indicate the presence of mechanical or dynamic heterogeneities within the Indian-Asian collision, the surface Global Positioning System velocities contain little or no usable information about them.

Validity and reliability of simple measurement device to assess the velocity of the barbell during squats.

Science.gov (United States)

Lorenzetti, Silvio; Lamparter, Thomas; Lüthy, Fabian

2017-12-06

The velocity of a barbell can provide important insights on the performance of athletes during strength training. The aim of this work was to assess the validity and reliably of four simple measurement devices that were compared to 3D motion capture measurements during squatting. Nine participants were assessed when performing 2 × 5 traditional squats with a weight of 70% of the 1 repetition maximum and ballistic squats with a weight of 25 kg. Simultaneously, data was recorded from three linear position transducers (T-FORCE, Tendo Power and GymAware), an accelerometer based system (Myotest) and a 3D motion capture system (Vicon) as the Gold Standard. Correlations between the simple measurement devices and 3D motion capture of the mean and the maximal velocity of the barbell, as well as the time to maximal velocity, were calculated. The correlations during traditional squats were significant and very high (r = 0.932, 0.990, p squats and was less accurate. All the linear position transducers were able to assess squat performance, particularly during traditional squats and especially in terms of mean velocity and time to maximal velocity.

The Relationship Between Maximum Isometric Strength and Ball Velocity in the Tennis Serve.

Science.gov (United States)

Baiget, Ernest; Corbi, Francisco; Fuentes, Juan Pedro; Fernández-Fernández, Jaime

2016-12-01

The aims of this study were to analyze the relationship between maximum isometric strength levels in different upper and lower limb joints and serve velocity in competitive tennis players as well as to develop a prediction model based on this information. Twelve male competitive tennis players (mean ± SD; age: 17.2 ± 1.0 years; body height: 180.1 ± 6.2 cm; body mass: 71.9 ± 5.6 kg) were tested using maximum isometric strength levels (i.e., wrist, elbow and shoulder flexion and extension; leg and back extension; shoulder external and internal rotation). Serve velocity was measured using a radar gun. Results showed a strong positive relationship between serve velocity and shoulder internal rotation (r = 0.67; p isometric strength level in shoulder internal rotation was strongly related to serve velocity, and a large part of the variability in serve velocity was explained by the maximum isometric strength levels in shoulder internal rotation and shoulder flexion.

Real-time pose invariant logo and pattern detection

Science.gov (United States)

Sidla, Oliver; Kottmann, Michal; Benesova, Wanda

2011-01-01

The detection of pose invariant planar patterns has many practical applications in computer vision and surveillance systems. The recognition of company logos is used in market studies to examine the visibility and frequency of logos in advertisement. Danger signs on vehicles could be detected to trigger warning systems in tunnels, or brand detection on transport vehicles can be used to count company-specific traffic. We present the results of a study on planar pattern detection which is based on keypoint detection and matching of distortion invariant 2d feature descriptors. Specifically we look at the keypoint detectors of type: i) Lowe's DoG approximation from the SURF algorithm, ii) the Harris Corner Detector, iii) the FAST Corner Detector and iv) Lepetit's keypoint detector. Our study then compares the feature descriptors SURF and compact signatures based on Random Ferns: we use 3 sets of sample images to detect and match 3 logos of different structure to find out which combinations of keypoint detector/feature descriptors work well. A real-world test tries to detect vehicles with a distinctive logo in an outdoor environment under realistic lighting and weather conditions: a camera was mounted on a suitable location for observing the entrance to a parking area so that incoming vehicles could be monitored. In this 2 hour long recording we can successfully detect a specific company logo without false positives.

Radial extension of drift waves in presence of velocity profiles

International Nuclear Information System (INIS)

Sen, S.; Weiland, J.

1994-01-01

The effect of a radially varying poloidal velocity field on the recently found radially extended toroidal drift waves is investigated analytically. The role of velocity curvature (υ φ '') is found to have robust effects on the radial model structure of the mode. For a positive value of the curvature (Usually found in the H-mode edges) the radial model envelope, similar to the sheared slab case, becomes fully outgoing. The mode is therefore stable. On the other hand, for a negative value of the curvature (usually observed in the L-mode edges) all the characteristics of conventional drift waves return back. The radial mode envelope reduces to a localized Gaussian shape and the mode is therefore unstable again for typical (magnetic) shear values in tokamaks. Velocity shear (υ φ ??) on the other hand is found to have rather insignificant role both in determining the radial model structure and stability

Velocity Building by Reflection Waveform Inversion without Cycle-skipping

KAUST Repository

Guo, Qiang

2017-05-26

Reflection waveform inversion (RWI) provides estimation of low wavenumber model components using reflections generated from a migration/demigration process. The resulting model tends to be a good initial model for FWI. In fact, the optimization images to combine the migration velocity analysis (MVA) objectives (given here by RWI) and the FWI ones. However, RWI may still encounter cycle-skipping at far offsets if the velocity model is highly inaccurate. Similar to MVA, RWI is devoted to focusing reflection data to its true image positions, yet because of the cycle skipping potential we tend to initially use only near offsets. To make the inversion procedure more robust, we introduce the extended image into our RWI. Extending the model perturbations (or image) allows us to better fit the data at larger offsets even with an inaccurate velocity. Thus, we implement a nested approach to optimize the velocity and extended image simultaneously using the objective function of RWI. We slowly reduce the extension, as the image becomes focused, to allow wavepath updates from far offsets to near as a natural progression from long wavelength updates to shorter ones. Applications on synthetic data demonstrate the effectiveness of our method without much additional cost to RWI.

Leaf temperature and stomatal influences on sap velocity diurnal hysteresis in the Amazon rainforest

Science.gov (United States)

Jardine, K.; Gimenez, B.; Negron Juarez, R. I.; Koven, C.; Powell, T.; Higuchi, N.; Chambers, J.; Varadharajan, C.

2016-12-01

In order to improve our ability to predict terrestrial evapotranspiration fluxes, an understanding of the interactions between plant physiology and environmental conditions is necessary, but remains poorly characterized, especially in tropical ecosystems. In this study we show a tight positive correlation between sap velocity (at 1 m of height) and leaf surface temperature (LST, 20-30 m of height) in canopy dominant trees in two primary rainforest sites in the Amazon basin (Santarém and Manaus, Brazil). As leaf temperatures varied throughout the day, sap velocity responded with little delay (<15 min). Positive sap velocity was often observed at night, but also closely followed night time LSTs. When plotted versus LST, sap velocity showed an exponential increase before reaching a reflection point and a plateau and is characterized as a sigmoidal curve, in all observed trees. Moreover, a clear diurnal hysteresis in sap velocity was evident with morning periods showing higher temperature sensitivities than afternoon and night periods. Diurnal leaf observations showed a morning peak in stomatal conductance ( 10:00-10:30), but a mid-day to afternoon peak in transpiration and leaf temperature (12:00-14:00). Our observations suggest the sap velocity-LST hysteresis pattern arises due to the temporal offset between stomatal conductance and vapor pressure deficits (VPD) and demonstrates the dominating effect of VPD over stomatal conductance in maintaining high transpiration/sap flow rates under elevated temperatures. Our results have important implications for modeling tropical forest transpiration and suggests the possibility of predicting evapotranspiration fluxes at the ecosystem to regional scales based on remote sensed vegetation temperature.

Collective cell migration without proliferation: density determines cell velocity and wave velocity

Science.gov (United States)

Tlili, Sham; Gauquelin, Estelle; Li, Brigitte; Cardoso, Olivier; Ladoux, Benoît; Delanoë-Ayari, Hélène; Graner, François

2018-05-01

Collective cell migration contributes to embryogenesis, wound healing and tumour metastasis. Cell monolayer migration experiments help in understanding what determines the movement of cells far from the leading edge. Inhibiting cell proliferation limits cell density increase and prevents jamming; we observe long-duration migration and quantify space-time characteristics of the velocity profile over large length scales and time scales. Velocity waves propagate backwards and their frequency depends only on cell density at the moving front. Both cell average velocity and wave velocity increase linearly with the cell effective radius regardless of the distance to the front. Inhibiting lamellipodia decreases cell velocity while waves either disappear or have a lower frequency. Our model combines conservation laws, monolayer mechanical properties and a phenomenological coupling between strain and polarity: advancing cells pull on their followers, which then become polarized. With reasonable values of parameters, this model agrees with several of our experimental observations. Together, our experiments and model disantangle the respective contributions of active velocity and of proliferation in monolayer migration, explain how cells maintain their polarity far from the moving front, and highlight the importance of strain-polarity coupling and density in long-range information propagation.

Temperature effects on sinking velocity of different Emiliania huxleyi strains.

Science.gov (United States)

Rosas-Navarro, Anaid; Langer, Gerald; Ziveri, Patrizia

2018-01-01

The sinking properties of three strains of Emiliania huxleyi in response to temperature changes were examined. We used a recently proposed approach to calculate sinking velocities from coccosphere architecture, which has the advantage to be applicable not only to culture samples, but also to field samples including fossil material. Our data show that temperature in the sub-optimal range impacts sinking velocity of E. huxleyi. This response is widespread among strains isolated in different locations and moreover comparatively predictable, as indicated by the similar slopes of the linear regressions. Sinking velocity was positively correlated to temperature as well as individual cell PIC/POC over the sub-optimum to optimum temperature range in all strains. In the context of climate change our data point to an important influence of global warming on sinking velocities. It has recently been shown that seawater acidification has no effect on sinking velocity of a Mediterranean E. huxleyi strain, while nutrient limitation seems to have a small negative effect on sinking velocity. Given that warming, acidification, and lowered nutrient availability will occur simultaneously under climate change scenarios, the question is what the net effect of different influential factors will be. For example, will the effects of warming and nutrient limitation cancel? This question cannot be answered conclusively but analyses of field samples in addition to laboratory culture studies will improve predictions because in field samples multi-factor influences and even evolutionary changes are not excluded. As mentioned above, the approach of determining sinking rate followed here is applicable to field samples. Future studies could use it to analyse not only seasonal and geographic patterns but also changes in sinking velocity over geological time scales.

Anisotropic depth migration: reducing lateral-position uncertainty of subsurface structures in the Alberta foothills

Energy Technology Data Exchange (ETDEWEB)

Vestrum, R.W.; Lawton, D.C.

1999-01-01

Seismic velocity anisotropy causes lateral-positioning errors on seismic images, and the use of anisotropic depth migration corrects this lateral mispositioning of subsurface targets. The assumption of isotropic seismic velocities implies that traditional depth migration corrects only for positioning errors caused by lateral velocity heterogeneity, and mispositioning due to seismic anisotropy remained uncorrected on depth-migrated sections. Also, isotropic depth migration was only applied in cases in which significant lateral velocity changes occurred, and lateral mispositioning due to seismic anisotropy remained uncorrected on time-migrated sections. If seismic is to accurately image the subsurface, then there is a need for reconsidering the assumptions made in depth imaging as well as a need to reconsider at what point depth migration applies to seismic data. Now that it is possible to correct for seismic anisotropy as well as lateral velocity heterogeneity, anisotropic depth migration potentially can be used to improve seismic imaging and positioning in areas in which traditional depth migration did not apply. 5 refs.

Anisotropic depth migration: reducing lateral-position uncertainty of subsurface structures in the Alberta foothills

Energy Technology Data Exchange (ETDEWEB)

Vestrum, R.W.; Lawton, D.C.

1999-11-01

Seismic velocity anisotropy causes lateral-positioning errors on seismic images, and the use of anisotropic depth migration corrects this lateral mispositioning of subsurface targets. The assumption of isotropic seismic velocities implies that traditional depth migration corrects only for positioning errors caused by lateral velocity heterogeneity, and mispositioning due to seismic anisotropy remained uncorrected on depth-migrated sections. Also, isotropic depth migration was only applied in cases in which significant lateral velocity changes occurred, and lateral mispositioning due to seismic anisotropy remained uncorrected on time-migrated sections. If seismic is to accurately image the subsurface, then there is a need for reconsidering the assumptions made in depth imaging as well as a need to reconsider at what point depth migration applies to seismic data. Now that it is possible to correct for seismic anisotropy as well as lateral velocity heterogeneity, anisotropic depth migration potentially can be used to improve seismic imaging and positioning in areas in which traditional depth migration did not apply. 5 refs.

Differences in the Load-Velocity Profile Between 4 Bench-Press Variants.

Science.gov (United States)

García-Ramos, Amador; Pestaña-Melero, Francisco Luis; Pérez-Castilla, Alejandro; Rojas, Francisco Javier; Haff, Guy Gregory

2018-03-01

To compare the load-velocity relationship between 4 variants of the bench-press (BP) exercise. The full load-velocity relationship of 30 men was evaluated by means of an incremental loading test starting at 17 kg and progressing to the individual 1-repetition maximum (1RM) in 4 BP variants: concentric-only BP, concentric-only BP throw (BPT), eccentric-concentric BP, and eccentric-concentric BPT. A strong and fairly linear relationship between mean velocity (MV) and %1RM was observed for the 4 BP variants (r 2  > .96 for pooled data and r 2  > .98 for individual data). The MV associated with each %1RM was significantly higher in the eccentric-concentric technique than in the concentric-only technique. The only significant difference between the BP and BPT variants was the higher MV with the light to moderate loads (20-70%1RM) in the BPT using the concentric-only technique. MV was significantly and positively correlated between the 4 BP variants (r = .44-.76), which suggests that the subjects with higher velocities for each %1RM in 1 BP variant also tend to have higher velocities for each %1RM in the 3 other BP variants. These results highlight the need for obtaining specific equations for each BP variant and the existence of individual load-velocity profiles.

The investigation and implementation of real-time face pose and direction estimation on mobile computing devices

Science.gov (United States)

Fu, Deqian; Gao, Lisheng; Jhang, Seong Tae

2012-04-01

The mobile computing device has many limitations, such as relative small user interface and slow computing speed. Usually, augmented reality requires face pose estimation can be used as a HCI and entertainment tool. As far as the realtime implementation of head pose estimation on relatively resource limited mobile platforms is concerned, it is required to face different constraints while leaving enough face pose estimation accuracy. The proposed face pose estimation method met this objective. Experimental results running on a testing Android mobile device delivered satisfactory performing results in the real-time and accurately.

Zebra Mussels Pose a Threat to Virginia's Waters

OpenAIRE

Helfrich, Louis A. (Louis Anthony), 1942-; Weigmann, Diana L.; Speenburgh, Renee M.; Neves, Richard J.; Kitchel, Lisie; Bruenderman, Sue A., 1962-

2005-01-01

Provides an brief introduction to the invasion of the zebra mussel into American waters, explains the economic consequences they pose, and discusses if Virginia will inherit the problem, what the public can do to help, the general lifecycle of the zebra mussel and if they can be controlled, and who is working on the zebra mussel problem.

Effect of hip and knee position on nerve conduction in the common fibular nerve.

Science.gov (United States)

Broadhurst, Peter Kaas; Robinson, Lawrence R

2017-09-01

The aim of this study was to measure the influence that hip and knee position have on routine fibular motor nerve conduction studies. Healthy subjects under age 40 were recruited (n = 24) to have fibular nerve conduction studies completed in various positions, using hip extension-knee extension as a control. A mean increase in conduction velocity of 2.5 m/s across the knee (P = 0.020) was seen during hip flexion compared with hip extension. A mean decrease in velocity of 1.6 m/s through the leg segment (P = 0.016) was seen during knee flexion compared with knee extension. This study shows that the optimal position of the leg during fibular nerve studies is with the hip in flexion and knee in extension, to more accurately reflect nerve length for velocity calculations. This may have implications for other peripheral nerves with respect to proximal joint position affecting calculated velocity. Muscle Nerve 56: 519-521, 2017. © 2017 Wiley Periodicals, Inc.

Consideration of some difficulties in migration velocity analysis; Migration velocity analysis no shomondai ni kansuru kento

Energy Technology Data Exchange (ETDEWEB)

Akama, K [Japan National Oil Corp., Tokyo (Japan). Technology Research Center; Matsuoka, T [Japan Petroleum Exploration Corp., Tokyo (Japan)

1997-10-22

Concerning migration velocity analysis in the seismic exploration method, two typical techniques, out of velocity analysis techniques using residual moveout in the CIP gather, are verified. Deregowski`s method uses pre-stacking deep-level migration records for velocity analysis to obtain velocities free of spatial inconsistency and not dependent on the velocity structure. This method is very like the conventional DMO velocity analysis method and is easy to understand intuitively. In this method, however, error is apt to be aggravated in the process of obtaining the depth-sector velocity from the time-RMS velocity. Al-Yahya`s method formulates the moveout residual in the CIP gather. This assumes horizontal stratification and a small residual velocity, however, and fails to guarantee convergence in the case of a steep structure or a grave model error. In the updating of the velocity model, in addition, it has to maintain required accuracy and, at the same time, incorporate smoothing to ensure not to deteriorate high convergence. 2 refs., 5 figs.

Validation of a Video Analysis Software Package for Quantifying Movement Velocity in Resistance Exercises.

Science.gov (United States)

Sañudo, Borja; Rueda, David; Pozo-Cruz, Borja Del; de Hoyo, Moisés; Carrasco, Luis

2016-10-01

Sañudo, B, Rueda, D, del Pozo-Cruz, B, de Hoyo, M, and Carrasco, L. Validation of a video analysis software package for quantifying movement velocity in resistance exercises. J Strength Cond Res 30(10): 2934-2941, 2016-The aim of this study was to establish the validity of a video analysis software package in measuring mean propulsive velocity (MPV) and the maximal velocity during bench press. Twenty-one healthy males (21 ± 1 year) with weight training experience were recruited, and the MPV and the maximal velocity of the concentric phase (Vmax) were compared with a linear position transducer system during a standard bench press exercise. Participants performed a 1 repetition maximum test using the supine bench press exercise. The testing procedures involved the simultaneous assessment of bench press propulsive velocity using 2 kinematic (linear position transducer and semi-automated tracking software) systems. High Pearson's correlation coefficients for MPV and Vmax between both devices (r = 0.473 to 0.993) were observed. The intraclass correlation coefficients for barbell velocity data and the kinematic data obtained from video analysis were high (>0.79). In addition, the low coefficients of variation indicate that measurements had low variability. Finally, Bland-Altman plots with the limits of agreement of the MPV and Vmax with different loads showed a negative trend, which indicated that the video analysis had higher values than the linear transducer. In conclusion, this study has demonstrated that the software used for the video analysis was an easy to use and cost-effective tool with a very high degree of concurrent validity. This software can be used to evaluate changes in velocity of training load in resistance training, which may be important for the prescription and monitoring of training programmes.

Winners, losers, and posers: The effect of power poses on testosterone and risk-taking following competition.

Science.gov (United States)

Smith, Kristopher M; Apicella, Coren L

2017-06-01

A contribution to a special issue on Hormones and Human Competition. The effect of postural power displays (i.e. power poses) on hormone levels and decision-making has recently been challenged. While Carney et al. (2010) found that holding brief postural displays of power leads to increased testosterone, decreased cortisol and greater economic risk taking, this failed to replicate in a recent high-powered study (Ranehill et al. 2015). It has been put forward that subtle differences in social context may account for the differences in results. Power displays naturally occur within the context of competitions, as do changes in hormones, and researchers have yet to examine the effects of poses within this ecologically relevant context. Using a large sample of 247 male participants, natural winners and losers of a physical competition were randomly assigned to hold a low, neutral or high-power postural display. We found no main effect of pose type on testosterone, cortisol, risk or feelings of power. Winners assigned to a high-power pose had a relative, albeit small, rise in testosterone compared to winners who held neutral or low-power poses. For losers, we found little evidence that high-power poses lead to increased testosterone relative to those holding neutral or low-powered poses. If anything, the reverse was observed - losers had a reduction in testosterone after holding high-power poses. To the extent that changes in testosterone modulate social behaviors adaptively, it is possible that the relative reduction in testosterone observed in losers taking high-powered poses is designed to inhibit further "winner-like" behavior that could result in continued defeat and harm. Still, effects were small, multiple comparisons were made, and the results ran counter to our predictions. We thus treat these conclusions as preliminary. Copyright © 2016 Elsevier Inc. All rights reserved.

Tridimensional pose estimation of a person head

International Nuclear Information System (INIS)

Perez Berenguer, Elisa; Soria, Carlos; Nasisi, Oscar; Mut, Vicente

2007-01-01

In this work, we present a method for estimating 3-D motion parameters; this method provides an alternative way for 3D head pose estimation from image sequence in the current computer vision literature. This method is robust over extended sequences and large head motions and accurately extracts the orientation angles of head from a single view. Experimental results show that this tracking system works well for development a human-computer interface for people that possess severe motor incapacity

Velocity Segregation and Systematic Biases In Velocity Dispersion Estimates with the SPT-GMOS Spectroscopic Survey

Science.gov (United States)

Bayliss, Matthew. B.; Zengo, Kyle; Ruel, Jonathan; Benson, Bradford A.; Bleem, Lindsey E.; Bocquet, Sebastian; Bulbul, Esra; Brodwin, Mark; Capasso, Raffaella; Chiu, I.-non; McDonald, Michael; Rapetti, David; Saro, Alex; Stalder, Brian; Stark, Antony A.; Strazzullo, Veronica; Stubbs, Christopher W.; Zenteno, Alfredo

2017-03-01

The velocity distribution of galaxies in clusters is not universal; rather, galaxies are segregated according to their spectral type and relative luminosity. We examine the velocity distributions of different populations of galaxies within 89 Sunyaev Zel’dovich (SZ) selected galaxy clusters spanning 0.28GMOS spectroscopic survey, supplemented by additional published spectroscopy, resulting in a final spectroscopic sample of 4148 galaxy spectra—2868 cluster members. The velocity dispersion of star-forming cluster galaxies is 17 ± 4% greater than that of passive cluster galaxies, and the velocity dispersion of bright (m< {m}* -0.5) cluster galaxies is 11 ± 4% lower than the velocity dispersion of our total member population. We find good agreement with simulations regarding the shape of the relationship between the measured velocity dispersion and the fraction of passive versus star-forming galaxies used to measure it, but we find a small offset between this relationship as measured in data and simulations, which suggests that our dispersions are systematically low by as much as 3% relative to simulations. We argue that this offset could be interpreted as a measurement of the effective velocity bias that describes the ratio of our observed velocity dispersions and the intrinsic velocity dispersion of dark matter particles in a published simulation result. Measuring velocity bias in this way suggests that large spectroscopic surveys can improve dispersion-based mass-observable scaling relations for cosmology even in the face of velocity biases, by quantifying and ultimately calibrating them out.

Effect of velocity variation on secondary-ion-emission probability: Quantum stationary approach

International Nuclear Information System (INIS)

Goldberg, E.C.; Ferron, J.; Passeggi, M.C.G.

1989-01-01

The ion-velocity dependence of the ionization probability for an atom ejected from a surface is examined by using a quantum approach in which the coupled motion between electrons and the outgoing nucleus is followed along the whole trajectory by solving the stationary Schroedinger equation. We choose a very-small-cluster-model system in which the motion of the atom is restricted to one dimension, and with energy potential curves corresponding to the involved channels varying appreciably with the atom position. We found an exponential dependence on the inverse of the asymptotic ion velocity for high emission energies, and a smoother behavior with slight oscillations at low energies. These results are compared with those obtained within a dynamical-trajectory approximation using either a constant velocity equal to the asymptotic ionic value, or expressions for the velocity derived from the eikonal approximation and from the classical limit of the current vector. Both approaches give similar results provided the velocity is allowed to adjust self-consistently to potential energies and transition-amplitude variations. Strong oscillations are observed in the low-emission-energy range either if the transitions are neglected, or a constant velocity along the whole path is assumed for the ejected particle

Vision-Based Pose Estimation for Robot-Mediated Hand Telerehabilitation

Directory of Open Access Journals (Sweden)

Giuseppe Airò Farulla

2016-02-01

Full Text Available Vision-based Pose Estimation (VPE represents a non-invasive solution to allow a smooth and natural interaction between a human user and a robotic system, without requiring complex calibration procedures. Moreover, VPE interfaces are gaining momentum as they are highly intuitive, such that they can be used from untrained personnel (e.g., a generic caregiver even in delicate tasks as rehabilitation exercises. In this paper, we present a novel master–slave setup for hand telerehabilitation with an intuitive and simple interface for remote control of a wearable hand exoskeleton, named HX. While performing rehabilitative exercises, the master unit evaluates the 3D position of a human operator’s hand joints in real-time using only a RGB-D camera, and commands remotely the slave exoskeleton. Within the slave unit, the exoskeleton replicates hand movements and an external grip sensor records interaction forces, that are fed back to the operator-therapist, allowing a direct real-time assessment of the rehabilitative task. Experimental data collected with an operator and six volunteers are provided to show the feasibility of the proposed system and its performances. The results demonstrate that, leveraging on our system, the operator was able to directly control volunteers’ hands movements.

Water velocity meter

Science.gov (United States)

Roberts, C. W.; Smith, D. L.

1970-01-01

Simple, inexpensive drag sphere velocity meter with a zero to 6 ft/sec range measures steady-state flow. When combined with appropriate data acquisition system, it is suited to applications where large numbers of simultaneous measurements are needed for current mapping or velocity profile determination.

ESPRIT: Exercise Sensing and Pose Recovery Inference Tool, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — We propose to develop ESPRIT: an Exercise Sensing and Pose Recovery Inference Tool, in support of NASA's effort in developing crew exercise technologies for...

Sediment motion and velocity in a glacier-fed stream

Science.gov (United States)

Mao, L.; Dell'Agnese, A.; Comiti, F.

2017-08-01

Current understanding of coarse sediment transport (e.g. threshold for motion, travel length and virtual velocity) in mountain rivers is still quite limited, and even less is known about glacial streams. However, the hydrological characteristics of these systems (strong daily discharge fluctuations, high water turbidity) pose challenges to the use of tracers to monitor bed sediment dynamics, as tagged clasts are usually located after bedload events when flow stage has receded, e.g. by means of portable antennas in the case of Passive Integrated Transponders (PIT). The use of stationary antennas, still scarcely in use worldwide, to detect PIT-tagged particles has potential advantages in glacier-fed streams. If water discharge is monitored continuously, a stationary antenna provides real time data on the actual discharge at the moment of tracer particles passage. This study focuses on incipient motion and virtual velocity of bed particles measured by a stationary antennas system in a steep mountain channel (Saldur River, drainage area 18.6 km2, Italian Alps) where significant daily discharge fluctuations and bedload transport occur as a result of a nivo-glacial regime. Four stationary antennas were installed 50-m apart in the study reach. A total of 629 PIT-tagged clasts were inserted in the studied reach between 2011 and 2014, ranging in size from 35 mm to 580 mm, with an overall recovery rate of around 44%. Critical discharge for sediment entrainment was obtained by detecting the movement of tracers placed immediately upstream of antennas. Virtual velocity was derived by knowing distances between the antennas and travel time of tracers. Results on initiation of motion show that the relationship between the size of transported tracers and the discharge measured at the time clasts were passing the stationary antenna is very weak. The influence of antecedent flows on incipient motion was thus investigated by dividing the highest discharge recorded between each PIT

Current distribution in triodes neglecting space charge and initial velocities

NARCIS (Netherlands)

Hamaker, H.C.

1950-01-01

A theory of the current distribution in triodes with positive grid is developed on the assumption that space charge and the initial velocities of both primary and secondary electrons may be neglected. This theory, which is originally due to De Lussanct de la Sablonière, has been put in a more lucid

Velocity field calculation for non-orthogonal numerical grids

Energy Technology Data Exchange (ETDEWEB)

Flach, G. P. [Savannah River Site (SRS), Aiken, SC (United States). Savannah River National Lab. (SRNL)

2015-03-01

Computational grids containing cell faces that do not align with an orthogonal (e.g. Cartesian, cylindrical) coordinate system are routinely encountered in porous-medium numerical simulations. Such grids are referred to in this study as non-orthogonal grids because some cell faces are not orthogonal to a coordinate system plane (e.g. xy, yz or xz plane in Cartesian coordinates). Non-orthogonal grids are routinely encountered at the Savannah River Site in porous-medium flow simulations for Performance Assessments and groundwater flow modeling. Examples include grid lines that conform to the sloping roof of a waste tank or disposal unit in a 2D Performance Assessment simulation, and grid surfaces that conform to undulating stratigraphic surfaces in a 3D groundwater flow model. Particle tracking is routinely performed after a porous-medium numerical flow simulation to better understand the dynamics of the flow field and/or as an approximate indication of the trajectory and timing of advective solute transport. Particle tracks are computed by integrating the velocity field from cell to cell starting from designated seed (starting) positions. An accurate velocity field is required to attain accurate particle tracks. However, many numerical simulation codes report only the volumetric flowrate (e.g. PORFLOW) and/or flux (flowrate divided by area) crossing cell faces. For an orthogonal grid, the normal flux at a cell face is a component of the Darcy velocity vector in the coordinate system, and the pore velocity for particle tracking is attained by dividing by water content. For a non-orthogonal grid, the flux normal to a cell face that lies outside a coordinate plane is not a true component of velocity with respect to the coordinate system. Nonetheless, normal fluxes are often taken as Darcy velocity components, either naively or with accepted approximation. To enable accurate particle tracking or otherwise present an accurate depiction of the velocity field for a non

Assessing exposure risks for aquatic organisms posed by Tamiflu use under seasonal influenza and pandemic conditions

International Nuclear Information System (INIS)

Chen, Wei-Yu; Lin, Chia-Jung; Liao, Chung-Min

2014-01-01

Environmental pollution by anti-influenza drugs is increasingly recognized as a threat to aquatic environments. However, little is known about empirical data on risk effects posed by environmentally relevant concentrations of anti-influenza drug based on recently published ecotoxicological researches in Taiwan. Here we linked ecotoxicology models with an epidemiological scheme to assess exposure risks of aquatic organisms and environmental hazards posed by antiviral oseltamivir (Tamiflu) use in Taiwan. Built on published bioassays, we used probabilistic risk assessment model to estimate potential threats of environmentally relevant hazards on algae, daphnid, and zerbrafish. We found that Tamiflu use was unlikely to pose a significant chronic environmental risk to daphnia and zebrafish during seasonal influenza. However, the chronic environmental risk posed by Tamiflu use during pandemic was alarming. We conclude that no significant risk to algal growth was found during seasonal influenza and high pandemic Tamiflu use. -- Highlights: • Environmentally relevant concentrations of anti-influenza drug have ecotoxicologically important effects. • Tamiflu is unlikely to pose a significant chronic environmental risk during seasonal influenza. • Chronic environmental risk posed by Tamiflu during pandemic is alarming. • Tertiary process in sewage treatment plants is crucial in mitigating Tamiflu exposure risk. -- A probabilistic framework can be used for assessing exposure risks posed by environmentally relevant concentrations of anti-influenza drug in aquatic ecosystems

Deformation-specific and deformation-invariant visual object recognition: pose vs identity recognition of people and deforming objects

Directory of Open Access Journals (Sweden)

Tristan J Webb

2014-04-01

Full Text Available When we see a human sitting down, standing up, or walking, we can recognise one of these poses independently of the individual, or we can recognise the individual person, independently of the pose. The same issues arise for deforming objects. For example, if we see a flag deformed by the wind, either blowing out or hanging languidly, we can usually recognise the flag, independently of its deformation; or we can recognise the deformation independently of the identity of the flag. We hypothesize that these types of recognition can be implemented by the primate visual system using temporo-spatial continuity as objects transform as a learning principle. In particular, we hypothesize that pose or deformation can be learned under conditions in which large numbers of different people are successively seen in the same pose, or objects in the same deformation. We also hypothesize that person-specific representations that are independent of pose, and object-specific representations that are independent of deformation and view, could be built, when individual people or objects are observed successively transforming from one pose or deformation and view to another. These hypotheses were tested in a simulation of the ventral visual system, VisNet, that uses temporal continuity, implemented in a synaptic learning rule with a short-term memory trace of previous neuronal activity, to learn invariant representations. It was found that depending on the statistics of the visual input, either pose-specific or deformation-specific representations could be built that were invariant with respect to individual and view; or that identity-specific representations could be built that were invariant with respect to pose or deformation and view. We propose that this is how pose-specific and pose-invariant, and deformation-specific and deformation-invariant, perceptual representations are built in the brain.

Determination of strength exercise intensities based on the load-power-velocity relationship.

Science.gov (United States)

Jandačka, Daniel; Beremlijski, Petr

2011-06-01

The velocity of movement and applied load affect the production of mechanical power output and subsequently the extent of the adaptation stimulus in strength exercises. We do not know of any known function describing the relationship of power and velocity and load in the bench press exercise. The objective of the study is to find a function modeling of the relationship of relative velocity, relative load and mechanical power output for the bench press exercise and to determine the intensity zones of the exercise for specifically focused strength training of soccer players. Fifteen highly trained soccer players at the start of a competition period were studied. The subjects of study performed bench presses with the load of 0, 10, 30, 50, 70 and 90% of the predetermined one repetition maximum with maximum possible speed of movement. The mean measured power and velocity for each load (kg) were used to develop a multiple linear regression function which describes the quadratic relationship between the ratio of power (W) to maximum power (W) and the ratios of the load (kg) to one repetition maximum (kg) and the velocity (m•s(-1)) to maximal velocity (m•s(-1)). The quadratic function of two variables that modeled the searched relationship explained 74% of measured values in the acceleration phase and 75% of measured values from the entire extent of the positive power movement in the lift. The optimal load for reaching maximum power output suitable for the dynamics effort strength training was 40% of one repetition maximum, while the optimal mean velocity would be 75% of maximal velocity. Moreover, four zones: maximum power, maximum velocity, velocity-power and strength-power were determined on the basis of the regression function.

Muscle utilization patterns vary by skill levels of the practitioners across specific yoga poses (asanas).

Science.gov (United States)

Ni, Meng; Mooney, Kiersten; Balachandran, Anoop; Richards, Luca; Harriell, Kysha; Signorile, Joseph F

2014-08-01

To compare muscle activation patterns in 14 dominant side muscles during different yoga poses across three skill levels. Mixed repeated-measures descriptive study. University neuromuscular research laboratory, Miami, US. A group of 36 yoga practitioners (9 M/27 F; mean ± SD, 31.6 ± 12.6 years) with at least 3 months yoga practice experience. Each of the 11 surya namaskar poses A and B was performed separately for 15s and the surface electromyography for 14 muscles were recorded. Normalized root mean square of the electromyographic signal (NrmsEMG) for 14 muscles (5 upper body, 4 trunk, 5 lower body). There were significant main effects of pose for all fourteen muscles except middle trapezius (p<.02) and of skill level for the vastus medialis; p=.027). A significant skill level × pose interaction existed for five muscles (pectoralis major sternal head, anterior deltoid, medial deltoid, upper rectus abdominis and gastrocnemius lateralis; p<.05). Post hoc analyses using Bonferroni comparisons indicated that different poses activated specific muscle groups; however, this varied by skill level. Our results indicate that different poses can produce specific muscle activation patterns which may vary due to practitioners' skill levels. This information can be used in designing rehabilitation and training programs and for cuing during yoga training. Copyright © 2014 Elsevier Ltd. All rights reserved.

Influence of lateral slab edge distance on plate velocity, trench velocity, and subduction partitioning

NARCIS (Netherlands)

Schellart, W. P.; Stegman, D. R.; Farrington, R. J.; Moresi, L.

2011-01-01

Subduction of oceanic lithosphere occurs through both trenchward subducting plate motion and trench retreat. We investigate how subducting plate velocity, trench velocity and the partitioning of these two velocity components vary for individual subduction zone segments as a function of proximity to

Velocity correlations and spatial dependencies between neighbors in a unidirectional flow of pedestrians

Science.gov (United States)

Porzycki, Jakub; WÄ s, Jarosław; Hedayatifar, Leila; Hassanibesheli, Forough; Kułakowski, Krzysztof

2017-08-01

The aim of the paper is an analysis of self-organization patterns observed in the unidirectional flow of pedestrians. On the basis of experimental data from Zhang et al. [J. Zhang et al., J. Stat. Mech. (2011) P06004, 10.1088/1742-5468/2011/06/P06004], we analyze the mutual positions and velocity correlations between pedestrians when walking along a corridor. The angular and spatial dependencies of the mutual positions reveal a spatial structure that remains stable during the crowd motion. This structure differs depending on the value of n , for the consecutive n th -nearest-neighbor position set. The preferred position for the first-nearest neighbor is on the side of the pedestrian, while for further neighbors, this preference shifts to the axis of movement. The velocity correlations vary with the angle formed by the pair of neighboring pedestrians and the direction of motion and with the time delay between pedestrians' movements. The delay dependence of the correlations shows characteristic oscillations, produced by the velocity oscillations when striding; however, a filtering of the main frequency of individual striding out reduces the oscillations only partially. We conclude that pedestrians select their path directions so as to evade the necessity of continuously adjusting their speed to their neighbors'. They try to keep a given distance, but follow the person in front of them, as well as accepting and observing pedestrians on their sides. Additionally, we show an empirical example that illustrates the shape of a pedestrian's personal space during movement.

Low crustal velocities and mantle lithospheric variations in southern Tibet from regional Pnl waveforms

Science.gov (United States)

Rodgers, Arthur J.; Schwartz, Susan Y.

We report low average crustal P-wave velocities (5.9-6.1 km/s, Poisson's ratio 0.23-0.27, thickness 68-76 km) in southern Tibet from modelling regional Pnl waveforms recorded by the 1991-1992 Tibetan Plateau Experiment. We also find that the mantle lithosphere beneath the Indus-Tsangpo Suture and the Lhasa Terrane is shield-like (Pn velocity 8.20-8.25 km/s, lid thickness 80-140 km, positive velocity gradient 0.0015-0.0025 s-1). Analysis of relative Pn travel time residuals requires a decrease in the mantle velocities beneath the northern Lhasa Terrane, the Banggong-Nujiang Suture and the southern Qiangtang Terrane. Tectonic and petrologic considerations suggest that low bulk crustal velocities could result from a thick (50-60 km) felsic upper crust with vertically limited and laterally pervasive partial melt. These results are consistent with underthrusting of Indian Shield lithosphere beneath the Tibetan Plateau to at least the central Lhasa Terrane.

Accelerator experiments with soft protons and hyper-velocity dust particles: application to ongoing projects of future X-ray missions

DEFF Research Database (Denmark)

Perinati, E.; Diebold, S.; Kendziorra, E.

2012-01-01

and hyper-velocity dust particles off X-ray mirror shells. These activities have been identified as a goal in the context of a number of ongoing space projects in order to assess the risk posed by environmental radiation and dust and qualify the adopted instrumentation with respect to possible damage...... or performance degradation. In this paper we focus on tests for the Silicon Drift Detectors (SDDs) used aboard the LOFT space mission. We use the Van de Graaff accelerators at the University of T\\"ubingen and at the Max Planck Institute for Nuclear Physics (MPIK) in Heidelberg, for soft proton and hyper...

Brief communication: The Khurdopin glacier surge revisited - extreme flow velocities and formation of a dammed lake in 2017

Science.gov (United States)

Steiner, Jakob F.; Kraaijenbrink, Philip D. A.; Jiduc, Sergiu G.; Immerzeel, Walter W.

2018-01-01

Glacier surges occur regularly in the Karakoram, but the driving mechanisms, their frequency and its relation to a changing climate remain unclear. In this study, we use digital elevation models and Landsat imagery in combination with high-resolution imagery from the Planet satellite constellation to quantify surface elevation changes and flow velocities during a glacier surge of the Khurdopin Glacier in 2017. Results reveal that an accumulation of ice volume above a clearly defined steep section of the glacier tongue since the last surge in 1999 eventually led to a rapid surge in May 2017 peaking with velocities above 5000 m a-1, which were among the fastest rates globally for a mountain glacier. Our data reveal that velocities on the lower tongue increase steadily during a 4-year build-up phase prior to the actual surge only to then rapidly peak and decrease again within a few months, which confirms earlier observations with a higher frequency of available velocity data. The surge return period between the reported surges remains relatively constant at ca. 20 years. We show the potential of a combination of repeat Planet and ASTER imagery to (a) capture peak surge velocities that are easily missed by less frequent Landsat imagery, (b) observe surface changes that indicate potential drivers of a surge and (c) monitor hazards associated with a surge. At Khurdopin specifically, we observe that the surging glacier blocks the river in the valley and causes a lake to form, which may grow in subsequent years and could pose threats to downstream settlements and infrastructure in the case of a sudden breach.

Velocity of lordosis angle during spinal flexion and extension.

Directory of Open Access Journals (Sweden)

Tobias Consmüller

Full Text Available The importance of functional parameters for evaluating the severity of low back pain is gaining clinical recognition, with evidence suggesting that the angular velocity of lordosis is critical for identification of musculoskeletal deficits. However, there is a lack of data regarding the range of functional kinematics (RoKs, particularly which include the changing shape and curvature of the spine. We address this deficit by characterising the angular velocity of lordosis throughout the thoracolumbar spine according to age and gender. The velocity of lumbar back shape changes was measured using Epionics SPINE during maximum flexion and extension activities in 429 asymptomatic volunteers. The difference between maximum positive and negative velocities represented the RoKs. The mean RoKs for flexion decreased with age; 114°/s (20-35 years, 100°/s (36-50 years and 83°/s (51-75 years. For extension, the corresponding mean RoKs were 73°/s, 57°/s and 47°/s. ANCOVA analyses revealed that age and gender had the largest influence on the RoKs (p<0.05. The Epionics SPINE system allows the rapid assessment of functional kinematics in the lumbar spine. The results of this study now serve as normative data for comparison to patients with spinal pathology or after surgical treatment.

Personal privacy, information assurance, and the threat posed by malware techology

Science.gov (United States)

Stytz, Martin R.; Banks, Sheila B.

2006-04-01

In spite of our best efforts to secure the cyber world, the threats posed to personal privacy by attacks upon networks and software continue unabated. While there are many reasons for this state of affairs, clearly one of the reasons for continued vulnerabilities in software is the inability to assess their security properties and test their security systems while they are in development. A second reason for this growing threat to personal privacy is the growing sophistication and maliciousness of malware coupled with the increasing difficulty of detecting malware. The pervasive threat posed by malware coupled with the difficulties faced when trying to detect its presence or an attempted intrusion make addressing the malware threat one of the most pressing issues that must be solved in order to insure personal privacy to users of the internet. In this paper, we will discuss the threat posed by malware, the types of malware found in the wild (outside of computer laboratories), and current techniques that are available for from a successful malware penetration. The paper includes a discussion of anti-malware tools and suggestions for future anti-malware efforts.

Measurement uncertainty budget of an interferometric flow velocity sensor

Science.gov (United States)

Bermuske, Mike; Büttner, Lars; Czarske, Jürgen

2017-06-01

Flow rate measurements are a common topic for process monitoring in chemical engineering and food industry. To achieve the requested low uncertainties of 0:1% for flow rate measurements, a precise measurement of the shear layers of such flows is necessary. The Laser Doppler Velocimeter (LDV) is an established method for measuring local flow velocities. For exact estimation of the flow rate, the flow profile in the shear layer is of importance. For standard LDV the axial resolution and therefore the number of measurement points in the shear layer is defined by the length of the measurement volume. A decrease of this length is accompanied by a larger fringe distance variation along the measurement axis which results in a rise of the measurement uncertainty for the flow velocity (uncertainty relation between spatial resolution and velocity uncertainty). As a unique advantage, the laser Doppler profile sensor (LDV-PS) overcomes this problem by using two fan-like fringe systems to obtain the position of the measured particles along the measurement axis and therefore achieve a high spatial resolution while it still offers a low velocity uncertainty. With this technique, the flow rate can be estimated with one order of magnitude lower uncertainty, down to 0:05% statistical uncertainty.1 And flow profiles especially in film flows can be measured more accurately. The problem for this technique is, in contrast to laboratory setups where the system is quite stable, that for industrial applications the sensor needs a reliable and robust traceability to the SI units, meter and second. Small deviations in the calibration can, because of the highly position depending calibration function, cause large systematic errors in the measurement result. Therefore, a simple, stable and accurate tool is needed, that can easily be used in industrial surroundings to check or recalibrate the sensor. In this work, different calibration methods are presented and their influences to the

Hierarchical graphical-based human pose estimation via local multi-resolution convolutional neural network

Science.gov (United States)

Zhu, Aichun; Wang, Tian; Snoussi, Hichem

2018-03-01

This paper addresses the problems of the graphical-based human pose estimation in still images, including the diversity of appearances and confounding background clutter. We present a new architecture for estimating human pose using a Convolutional Neural Network (CNN). Firstly, a Relative Mixture Deformable Model (RMDM) is defined by each pair of connected parts to compute the relative spatial information in the graphical model. Secondly, a Local Multi-Resolution Convolutional Neural Network (LMR-CNN) is proposed to train and learn the multi-scale representation of each body parts by combining different levels of part context. Thirdly, a LMR-CNN based hierarchical model is defined to explore the context information of limb parts. Finally, the experimental results demonstrate the effectiveness of the proposed deep learning approach for human pose estimation.

Hierarchical graphical-based human pose estimation via local multi-resolution convolutional neural network

Directory of Open Access Journals (Sweden)

Aichun Zhu

2018-03-01

Full Text Available This paper addresses the problems of the graphical-based human pose estimation in still images, including the diversity of appearances and confounding background clutter. We present a new architecture for estimating human pose using a Convolutional Neural Network (CNN. Firstly, a Relative Mixture Deformable Model (RMDM is defined by each pair of connected parts to compute the relative spatial information in the graphical model. Secondly, a Local Multi-Resolution Convolutional Neural Network (LMR-CNN is proposed to train and learn the multi-scale representation of each body parts by combining different levels of part context. Thirdly, a LMR-CNN based hierarchical model is defined to explore the context information of limb parts. Finally, the experimental results demonstrate the effectiveness of the proposed deep learning approach for human pose estimation.

Is the kinetic equation for turbulent gas-particle flows ill posed?

Science.gov (United States)

Reeks, M; Swailes, D C; Bragg, A D

2018-02-01

This paper is about the kinetic equation for gas-particle flows, in particular its well-posedness and realizability and its relationship to the generalized Langevin model (GLM) probability density function (PDF) equation. Previous analyses, e.g. [J.-P. Minier and C. Profeta, Phys. Rev. E 92, 053020 (2015)PLEEE81539-375510.1103/PhysRevE.92.053020], have concluded that this kinetic equation is ill posed, that in particular it has the properties of a backward heat equation, and as a consequence, its solution will in the course of time exhibit finite-time singularities. We show that this conclusion is fundamentally flawed because it ignores the coupling between the phase space variables in the kinetic equation and the time and particle inertia dependence of the phase space diffusion tensor. This contributes an extra positive diffusion that always outweighs the negative diffusion associated with the dispersion along one of the principal axes of the phase space diffusion tensor. This is confirmed by a numerical evaluation of analytic solutions of these positive and negative contributions to the particle diffusion coefficient along this principal axis. We also examine other erroneous claims and assumptions made in previous studies that demonstrate the apparent superiority of the GLM PDF approach over the kinetic approach. In so doing, we have drawn attention to the limitations of the GLM approach, which these studies have ignored or not properly considered, to give a more balanced appraisal of the benefits of both PDF approaches.

Introduced organisms pose the most significant threat to the ...

African Journals Online (AJOL)

spamer

Introduced organisms pose the most significant threat to the conservation status of oceanic islands (e.g.. Williamson 1996). Subantarctic Prince Edward Island, the smaller of the two islands in the Prince Edward. Island group, has few introduced organisms; it is cur- rently known to support only three introduced animals.

Morozov-type discrepancy principle for nonlinear ill-posed problems ...

Indian Academy of Sciences (India)

For proving the existence of a regularization parameter under a Morozov-type discrepancy principle for Tikhonov regularization of nonlinear ill-posed problems, it is required to impose additional nonlinearity assumptions on the forward operator. Lipschitz continuity of the Freéchet derivative and requirement of the Lipschitz ...

Full Body Pose Estimation During Occlusion using Multiple Cameras

DEFF Research Database (Denmark)

Fihl, Preben; Cosar, Serhan

people is a very challenging problem for methods based on pictorials structure as for any other monocular pose estimation method. In this report we present work on a multi-view approach based on pictorial structures that integrate low level information from multiple calibrated cameras to improve the 2D...

Morozov-type discrepancy principle for nonlinear ill-posed problems ...

Indian Academy of Sciences (India)

2016-08-26

Aug 26, 2016 ... For proving the existence of a regularization parameter under a Morozov-type discrepancy principle for Tikhonov regularization of nonlinear ill-posed problems, it is required to impose additional nonlinearity assumptions on the forward operator. Lipschitz continuity of the Freéchet derivative and requirement ...

Emission of positive oxygen ions from ion bombardment of adsorbate-covered metal surfaces

International Nuclear Information System (INIS)

Kaurin, M.G.

1989-01-01

During ion bombardment of metal surfaces, collision cascades can result in the emission of sputtered secondary ions. Recent experiments, however, have suggested that the emission of positive ions of electronegative adsorbates can result from electronic processes rather than from processes involving elastic collisions. This dissertation presents the results of experiments studying the emission of positive oxygen ions from oxygen- and carbon-monoxide-covered transition metal surfaces during bombardment by 25-250 keV ions of neon, argon, and krypton. The systems studied may be grouped into four categories. For a nickel substrate with adsorbed oxygen, the emission of positive oxygen ions proceeds through collision cascades. For titanium and niobium with adsorbed oxygen, the emission of positive oxygen ions is proportional to the primary ion velocity, consistent with emission from electronic processes; for a given primary ion velocity, the oxygen ion yield is independent of primary ion species. For substrates of molybdenum and tungsten, the oxygen yield is proportional to primary ion velocity, but the yield also depends on the primary ion species for a given primary ion velocity in a manner that is consistent with emission resulting from electronic processes. For these two groups, except for titanium, the yields during neon ion bombardment do not extrapolate (assuming linearity with primary ion velocity) to a nonzero value at zero beam velocity. The magnitude of the oxygen ion yields from these targets is not consistent with that expected if the emission were induced by secondary electrons emitted during the ion bombardment

The Relationship Between Maximum Isometric Strength and Ball Velocity in the Tennis Serve

Directory of Open Access Journals (Sweden)

Baiget Ernest

2016-12-01

Full Text Available The aims of this study were to analyze the relationship between maximum isometric strength levels in different upper and lower limb joints and serve velocity in competitive tennis players as well as to develop a prediction model based on this information. Twelve male competitive tennis players (mean ± SD; age: 17.2 ± 1.0 years; body height: 180.1 ± 6.2 cm; body mass: 71.9 ± 5.6 kg were tested using maximum isometric strength levels (i.e., wrist, elbow and shoulder flexion and extension; leg and back extension; shoulder external and internal rotation. Serve velocity was measured using a radar gun. Results showed a strong positive relationship between serve velocity and shoulder internal rotation (r = 0.67; p < 0.05. Low to moderate correlations were also found between serve velocity and wrist, elbow and shoulder flexion – extension, leg and back extension and shoulder external rotation (r = 0.36 – 0.53; p = 0.377 – 0.054. Bivariate and multivariate models for predicting serve velocity were developed, with shoulder flexion and internal rotation explaining 55% of the variance in serve velocity (r = 0.74; p < 0.001. The maximum isometric strength level in shoulder internal rotation was strongly related to serve velocity, and a large part of the variability in serve velocity was explained by the maximum isometric strength levels in shoulder internal rotation and shoulder flexion.

Measurement of thermal plasma jet temperature and velocity by laser light lineshape analysis

International Nuclear Information System (INIS)

Snyder, S.C.; Reynolds, L.D.

1991-01-01

Two important parameters of thermal plasma jets are kinetic or gas temperatures and flow velocity. Gas temperatures have been traditionally measured using emission spectroscopy, but this method depends on either the generally unrealistic assumption of the existence of local thermodynamic equilibrium (LTE) within the plasma, or the use of various non-LTE or partial LTE models to relate the intensity of the emission lines to the gas temperature. Plasma jet velocities have been measured using laser Doppler velocimetry on particles injected into the plasma. However, this method is intrusive and it is not known how well the particle velocities represent the gas velocity. Recently, plasma jet velocities have been measured from the Doppler shift of laser light scattered by the plasma. In this case, the Doppler shift was determined from the difference in the transmission profile of a high resolution monochromator between red shifted and blue shifted scattered light. A direct approach to measuring localized temperatures and velocities is afforded by high resolution scattered light lineshape measurements. The linewidth of laser light scattered by atoms and ions can be related to the kinetic temperature without LTE assumptions, while a shift in the peak position relative to the incident laser lineshape yields the gas velocity. We report in this paper work underway to measure gas temperatures and velocities in an argon thermal plasma jet using high resolution lineshape analysis of scattered laser light

Upper-mantle velocity structure and its relation to topography across the Caledonides in Greenland and Norway

DEFF Research Database (Denmark)

Hejrani, Babak; Balling, N.; Jacobsen, B. H.

2015-01-01

This study investigates the upper-mantle P- and S-wave velocity structure as well as structure in the VP/VS ratio across the high topography areas of north Atlantic Caledonides, integrating data from a new East Greenland Caledonide Central Fjord Array (EGCFA) with results of recent studies...... strong upper-mantle velocity boundary under the East Greenland Caledonides. However, the contrast in the VP/VS ratio is not as clear at this location. A correlation study of topography versus upper-mantle velocity revealed positive correlation in southern Norway but negative or absent correlation...

Flocking in Multi-Agent Systems with Multiple Virtual Leaders Based Only on Position Measurements

International Nuclear Information System (INIS)

Su Housheng

2012-01-01

Most existing flocking algorithms assume one single virtual leader and rely on information on both relative positions and relative velocities among neighboring agents. In this paper, the problem of controlling a flock of mobile autonomous agents to follow multiple virtual leaders is investigated by using only position information in the sense that agents with the same virtual leader asymptotically attain the same velocity and track the corresponding virtual leader based on only position measurements. A flocking algorithm is proposed under which every agent asymptotically attains its desired velocity, collision between agents can be avoided, and the final tight formation minimizes all agents' global potentials. A simulation example is presented to verify and illustrate the theoretical results. (general)

A first comparison of irregularity and ion drift velocity measurements in the E-region

Directory of Open Access Journals (Sweden)

R. A. Makarevich

2006-09-01

Full Text Available E-region irregularity velocity measurements at large flow angles with the STARE Finland coherent VHF radar are considered in context of the ion and electron velocity data provided by the EISCAT tristatic radar system, CUTLASS Finland coherent HF radar, and IMAGE fluxgate magnetometers. The data have been collected during a special experiment on 27 March 2004 during which EISCAT was scanning between several E- and one F-region altitudes along the magnetic field line. Within the E-region, the EISCAT measurements at two altitudes of 110 and 115 km are considered while the electron velocity is inferred from the EISCAT ion velocity measurements at 278 km. The line-of-sight (l-o-s VHF velocity measured by STARE _{VHF los} is compared to the ion and electron velocity components (V_{i0 comp} and V_{e0 comp} along the STARE l-o-s direction. The comparison with V_{e0 comp} for the entire event shows that the measurements exhibit large scatter and small positive correlation. The correlation with V_{e0 comp} was substantial in the first half of the interval under study when V_{e0 comp} was larger in magnitude. The comparison with V_{i0 comp} at 110 and 115 km shows a considerable positive correlation, with VHF velocity being typically larger (smaller in magnitude than V_{i0 comp} at 110 km (115 km so that V_{VHF los} appears to be bounded by the ion velocity components at two altitudes. It is also demonstrated that the difference between V_{VHF los} and V_{i0 comp} at 110 km can be treated, in the first approximation, as a linear function of the effective backscatter height h_eff also counted from 110 km; h_eff varies in the range 108–114 km due to the altitude integration effects in the scattering cross-section. Our results are consistent with the notion that VHF

Controllable group velocity of the probe light in a Λ-type system with two fold levels

International Nuclear Information System (INIS)

Jin Lihui; Gong Shangqing; Niu Yueping; Li Ruxin; Jin Shiqi

2006-01-01

The group velocities of the probe laser field are studied in a Λ-type system where one lower state has two fold levels coupled by a control field. It is found that the interaction of double dark states leads to controllable group velocity of the probe field in this system. It can be easily realized, due to the interacting double dark resonances, that one of the group velocities at transparency positions is much slower than the other by tuning the control field to be off resonance. In particular, when the control field is on resonance, we can obtain two equal slow group velocities with a broader EIT width, which provides potential applications in quantum storage and retrieval of light

Vertical eye position-dependence of the human vestibuloocular reflex during passive and active yaw head rotations.

Science.gov (United States)

Thurtell, M J; Black, R A; Halmagyi, G M; Curthoys, I S; Aw, S T

1999-05-01

Vertical eye position-dependence of the human vestibuloocular reflex during passive and active yaw head rotations. The effect of vertical eye-in-head position on the compensatory eye rotation response to passive and active high acceleration yaw head rotations was examined in eight normal human subjects. The stimuli consisted of brief, low amplitude (15-25 degrees ), high acceleration (4,000-6,000 degrees /s2) yaw head rotations with respect to the trunk (peak velocity was 150-350 degrees /s). Eye and head rotations were recorded in three-dimensional space using the magnetic search coil technique. The input-output kinematics of the three-dimensional vestibuloocular reflex (VOR) were assessed by finding the difference between the inverted eye velocity vector and the head velocity vector (both referenced to a head-fixed coordinate system) as a time series. During passive head impulses, the head and eye velocity axes aligned well with each other for the first 47 ms after the onset of the stimulus, regardless of vertical eye-in-head position. After the initial 47-ms period, the degree of alignment of the eye and head velocity axes was modulated by vertical eye-in-head position. When fixation was on a target 20 degrees up, the eye and head velocity axes remained well aligned with each other. However, when fixation was on targets at 0 and 20 degrees down, the eye velocity axis tilted forward relative to the head velocity axis. During active head impulses, the axis tilt became apparent within 5 ms of the onset of the stimulus. When fixation was on a target at 0 degrees, the velocity axes remained well aligned with each other. When fixation was on a target 20 degrees up, the eye velocity axis tilted backward, when fixation was on a target 20 degrees down, the eye velocity axis tilted forward. The findings show that the VOR compensates very well for head motion in the early part of the response to unpredictable high acceleration stimuli-the eye position- dependence of the

A math model for high velocity sensoring with a focal plane shuttered camera.

Science.gov (United States)

Morgan, P.

1971-01-01

A new mathematical model is presented which describes the image produced by a focal plane shutter-equipped camera. The model is based upon the well-known collinearity condition equations and incorporates both the translational and rotational motion of the camera during the exposure interval. The first differentials of the model with respect to exposure interval, delta t, yield the general matrix expressions for image velocities which may be simplified to known cases. The exposure interval, delta t, may be replaced under certain circumstances with a function incorporating blind velocity and image position if desired. The model is tested using simulated Lunar Orbiter data and found to be computationally stable as well as providing excellent results, provided that some external information is available on the velocity parameters.

Instantaneous axial velocity of a radioactive tracer determined with radioactive particle tracking

Energy Technology Data Exchange (ETDEWEB)

Fraguio, Maria Sol; Cassanello, Miryan C., E-mail: miryan@di.fcen.uba.a [Universidad de Buenos Aires (Argentina). Facultad de Ciencias Exactas y Naturales. Programa de Investigacion y Desarrollo de Fuentes Alternativas de Materias Primas y Energia (PINMATE); Cardona, Maria Angelica; Hojman, Daniel, E-mail: cardona@tandar.cnea.gov.a [CONICET, Buenos Aires (Argentina); Somacal, Hector [Comision Nacional de Energia Atomica (CNEA), Buenos Aires (Argentina). Centro Atomico Constituyentes. Dept. de Fisica

2009-07-01

Radioactive Particle Tracking (RPT) is a technique that has been successfully used to get features of the liquid and/or the solid motion in multiphase contactors. It is one of the rare techniques able to provide experimental data in dense and strongly turbulent multiphase media. Validation of the technique has always been based on comparing the estimated mean velocity to an imposed mean velocity although the extracted features are frequently related to the instantaneous velocities. The present work pursues the analysis, through calibration experiments, of the ability of RPT to get the actual tracer instantaneous velocities. With this purpose, the motion of a radioactive tracer attached to a moving rod driven by a pneumatic system is reconstructed from the combined response of an array of 10 NaI(Tl) scintillation detectors. Simultaneously, the tracer motion is registered through an encoder able to establish the axial tracer coordinate with high precision and high time resolution. The tracer is a gold particle, activated by neutron bombardment. The rod is moved at different velocities and it travels upwards and downwards close to the column centre. A mini-pilot scale bubble column is used as the test facility. The model liquid is tap water in batch mode and the gas is air, flowing at different gas velocities, spanning the homogeneous and the heterogeneous flow regimes. Time series of the entirety response of all the detectors, while the rod is moving at different imposed velocities within the two phase emulsion, are measured with a sampling period of 0.03 s during about 2 minutes. The instantaneous tracer positions and velocities reconstructed from RPT and the one obtained from the encoder response are compared under different operating conditions and for different tracer velocities. (author)

Multifactor Analysis of Roadheader’s Body Pose Responses during the Horizontal Cutting Process

Directory of Open Access Journals (Sweden)

Kai Zong

2018-01-01

Full Text Available Based on the Lagrange equation in system dynamics, aiming at the horizontal cutting process, the dynamical coupling model of boom-type roadheader’s body pose was established. According to input problem of solving the model, a calculation method of the cutting head load was proposed, and the relationship between the cutting head load and pressure of the driving cylinders and swing angle of the cutting arm was obtained through simulating analysis. The simulation model was established to solve the dynamical coupling model. The cutting head load, horizontal swing angle of the cutting arm, and dip angle of coal seam were regarded as independent variables to perform changing parameter analysis in variations of the body pose. The field experiment was carried out, and the measured data is basically consistent with the simulation values. The results show that lateral displacement of the body can reach up to 6.5 cm, backward displacement can reach up to 5.2 cm, floor-based quantity can reach up to 11 cm, pitch angle of the body can reach up to 7.8°, and roll angle can reach up to 2.1°. Variations of the body pose parameters are influenced greatly by the cutting head load, while the influence from horizontal swing angle of the cutting arm and dip angle of coal seam is slighter. Among the pose parameters, floor-based quantity and pitch angle of the body vary relatively greatly, which tend to seriously influence forming quality of the roadway and should be mainly considered in deviation rectification of the roadheader’s body pose.

Virtual Reality Aided Positioning of Mobile C-Arms for Image-Guided Surgery

Directory of Open Access Journals (Sweden)

Zhenzhou Shao

2014-06-01

Full Text Available For the image-guided surgery, the positioning of mobile C-arms is a key technique to take X-ray images in a desired pose for the confirmation of current surgical outcome. Unfortunately, surgeons and patient often suffer the radiation exposure due to the repeated imaging when the X-ray image is of poor quality or not captured at a good projection view. In this paper, a virtual reality (VR aided positioning method for the mobile C-arm is proposed by the alignment of 3D surface model of region of interest and preoperative anatomy, so that a reference pose of the mobile C-arm with respect to the inside anatomy can be figured out from outside view. It allows a one-time imaging from the outside view to greatly reduce the additional radiation exposure. To control the mobile C-arm to the desired pose, the mobile C-arm is modeled as a robotic arm with a movable base. Experiments were conducted to evaluate the accuracy of appearance model and precision of mobile C-arm positioning. The appearance model was reconstructed with the average error of 2.16 mm. One-time imaging of mobile C-arm was achieved, and new modeling of mobile C-arm with 8 DoFs enlarges the working space in the operating room.

The critical ionization velocity

International Nuclear Information System (INIS)

Raadu, M.A.

1980-06-01

The critical ionization velocity effect was first proposed in the context of space plasmas. This effect occurs for a neutral gas moving through a magnetized plasma and leads to rapid ionization and braking of the relative motion when a marginal velocity, 'the critical velocity', is exceeded. Laboratory experiments have clearly established the significance of the critical velocity and have provided evidence for an underlying mechanism which relies on the combined action of electron impact ionization and a collective plasma interaction heating electrons. There is experimental support for such a mechanism based on the heating of electrons by the modified two-stream instability as part of a feedback process. Several applications to space plasmas have been proposed and the possibility of space experiments has been discussed. (author)

Feature and Pose Constrained Visual Aided Inertial Navigation for Computationally Constrained Aerial Vehicles

Science.gov (United States)

Williams, Brian; Hudson, Nicolas; Tweddle, Brent; Brockers, Roland; Matthies, Larry

2011-01-01

A Feature and Pose Constrained Extended Kalman Filter (FPC-EKF) is developed for highly dynamic computationally constrained micro aerial vehicles. Vehicle localization is achieved using only a low performance inertial measurement unit and a single camera. The FPC-EKF framework augments the vehicle's state with both previous vehicle poses and critical environmental features, including vertical edges. This filter framework efficiently incorporates measurements from hundreds of opportunistic visual features to constrain the motion estimate, while allowing navigating and sustained tracking with respect to a few persistent features. In addition, vertical features in the environment are opportunistically used to provide global attitude references. Accurate pose estimation is demonstrated on a sequence including fast traversing, where visual features enter and exit the field-of-view quickly, as well as hover and ingress maneuvers where drift free navigation is achieved with respect to the environment.

Velocity bunching of high-brightness electron beams

Directory of Open Access Journals (Sweden)

S. G. Anderson

2005-01-01

Full Text Available Velocity bunching has been recently proposed as a tool for compressing electron beam pulses in modern high brightness photoinjector sources. This tool is familiar from earlier schemes implemented for bunching dc electron sources, but presents peculiar challenges when applied to high current, low emittance beams from photoinjectors. The main difficulty foreseen is control of emittance oscillations in the beam in this scheme, which can be naturally considered as an extension of the emittance compensation process at moderate energies. This paper presents two scenarios in which velocity bunching, combined with emittance control, is to play a role in nascent projects. The first is termed ballistic bunching, where the changing of relative particle velocities and positions occur in distinct regions, a short high gradient linac, and a drift length. This scenario is discussed in the context of the proposed ORION photoinjector. Simulations are used to explore the relationship between the degree of bunching, and the emittance compensation process. Experimental measurements performed at the UCLA Neptune Laboratory of the surprisingly robust bunching process, as well as accompanying deleterious transverse effects, are presented. An unanticipated mechanism for emittance growth in bends for highly momentum chirped beam was identified and studied in these experiments. The second scenario may be designated as phase space rotation, and corresponds closely to the recent proposal of Ferrario and Serafini. Its implementation for the compression of the electron beam pulse length in the PLEIADES inverse Compton scattering (ICS experiment at LLNL is discussed. It is shown in simulations that optimum compression may be obtained by manipulation of the phases in low gradient traveling wave accelerator sections. Measurements of the bunching and emittance control achieved in such an implementation at PLEIADES, as well as aspects of the use of velocity-bunched beam directly

Design and construction of an electromechanical velocity modulator for Moessbauer spectroscopy

Energy Technology Data Exchange (ETDEWEB)

Velasquez, A. A., E-mail: avelas26@eafit.edu.co; Carmona, A. [Universidad EAFIT, Grupo de Electromagnetismo Aplicado (Colombia); Velasquez, D.; Angel, L. [Universidad EAFIT, Grupo de Optica Aplicada (Colombia)

2011-11-15

In this paper we report the design, construction and characterization of an electromechanical velocity modulator for application in Moessbauer spectroscopy. The modulator was constructed with copper coils, Neodymium magnets, steel cores and polymeric membranes. The magnetic field in the driving and velocity sensing stages was analyzed by the finite element method, which showed a linear relation between the magnetic field in the region of motion of both coils and the position of the coils within the steel cores. The results obtained by computational simulation allowed us to optimize geometries and dimensions of the elements of the system. The modulator presented its first resonance frequency at 16.7 Hz, this value was in good agreement with that predicted by a second order model, which showed a resonant frequency of 16.8 Hz. The linearity of the velocity signal of the modulator was analyzed through an optical method, based on a Michelson-Morley interferometer, in which the modulator moved one of the mirrors. Results showed a satisfactory linearity of the velocity signal obtained in the sensing coil, whose correlation with a straight line was around 0.99987 for a triangular reference waveform.

Orographic precipitation and vertical velocity characteristics from drop size and fall velocity spectra observed by disdrometers

Science.gov (United States)

Lee, Dong-In; Kim, Dong-Kyun; Kim, Ji-Hyeon; Kang, Yunhee; Kim, Hyeonjoon

2017-04-01

During a summer monsoon season each year, severe weather phenomena caused by front, mesoscale convective systems, or typhoons often occur in the southern Korean Peninsula where is mostly comprised of complex high mountains. These areas play an important role in controlling formation, amount, and distribution of rainfall. As precipitation systems move over the mountains, they can develop rapidly and produce localized heavy rainfall. Thus observational analysis in the mountainous areas is required for studying terrain effects on the rapid rainfall development and its microphysics. We performed intensive field observations using two s-band operational weather radars around Mt. Jiri (1950 m ASL) during summertime on June and July in 2015-2016. Observation data of DSD (Drop Size Distribution) from Parsivel disdrometer and (w component) vertical velocity data from ultrasonic anemometers were analyzed for Typhoon Chanhom on 12 July 2015 and the heavy rain event on 1 July 2016. During the heavy rain event, a dual-Doppler radar analysis using Jindo radar and Gunsan radar was also conducted to examine 3-D wind fields and vertical structure of reflectivity in these areas. For examining up-/downdrafts in the windward or leeward side of Mt. Jiri, we developed a new scheme technique to estimate vertical velocities (w) from drop size and fall velocity spectra of Parsivel disdrometers at different stations. Their comparison with the w values observed by the 3D anemometer showed quite good agreement each other. The Z histogram with regard to the estimated w was similar to that with regard to R, indicating that Parsivel-estimated w is quite reasonable for classifying strong and weak rain, corresponding to updraft and downdraft, respectively. Mostly, positive w values (upward) were estimated in heavy rainfall at the windward side (D1 and D2). Negative w values (downward) were dominant even during large rainfall at the leeward side (D4). For D1 and D2, the upward w percentages were

POSING THE HISTORICAL JESUS QUESTION AND THE GOAL OF ...

African Journals Online (AJOL)

mycl

... study recommended that. African scholars be allowed to develop and pose the Historical Jesus ... he is seen as the starting point for modern critical study of Jesus. (Burer). ... African anthropology and culture and the data of revelation, and how this theology ... Man” from two perspectives: that of a biblical culture in the first.

Sialic acid accelerates the electrophoretic velocity of injured dorsal root ganglion neurons

Directory of Open Access Journals (Sweden)

Chen-xu Li

2015-01-01

Full Text Available Peripheral nerve injury has been shown to result in ectopic spontaneous discharges on soma and injured sites of sensory neurons, thereby inducing neuropathic pain. With the increase of membrane proteins on soma and injured site neurons, the negatively charged sialic acids bind to the external domains of membrane proteins, resulting in an increase of this charge. We therefore speculate that the electrophoretic velocity of injured neurons may be faster than non-injured neurons. The present study established rat models of neuropathic pain via chronic constriction injury. Results of the cell electrophoresis test revealed that the electrophoretic velocity of injured neuronal cells was faster than that of non-injured (control cells. We then treated cells with divalent cations of Ca 2+ and organic compounds with positive charges, polylysine to counteract the negatively charged sialic acids, or neuraminidase to specifically remove sialic acids from the membrane surface of injured neurons. All three treatments significantly reduced the electrophoretic velocity of injured neuronal cells. These findings suggest that enhanced sialic acids on injured neurons may accelerate the electrophoretic velocity of injured neurons.

Examples of Vector Velocity Imaging

DEFF Research Database (Denmark)

Hansen, Peter M.; Pedersen, Mads M.; Hansen, Kristoffer L.

2011-01-01

To measure blood flow velocity in vessels with conventional ultrasound, the velocity is estimated along the direction of the emitted ultrasound wave. It is therefore impossible to obtain accurate information on blood flow velocity and direction, when the angle between blood flow and ultrasound wa...

A novel ultrasonic velocity sensing approach to monitoring state of charge of vanadium redox flow battery

International Nuclear Information System (INIS)

Chou, Yi-Sin; Hsu, Ning-Yih; Jeng, King-Tsai; Chen, Kuan-Hsiang; Yen, Shi-Chern

2016-01-01

Highlights: • This is the first to apply ultrasonic sensing technique to monitor SOC of VRB. • Ultrasound velocity is affected by concentration and temperature of a solution. • The ultrasonic sensing is applicable to both positive and negative sides of VRB. • An empirical model equation fits the results of this two-component system well. • The SOC of a VRB can be properly measured using ultrasonic sensing. - Abstract: A novel ultrasonic velocity sensing approach is proposed and investigated to monitor the state of charge (SOC) of a vanadium redox flow battery (VRB, or VRFB). The positive electrode is designated as the energy storage capacity-limiting one so that the molar ratio of the V"5"+ ion in the positive electrolyte solution determines the SOC of a VRB. The tested single-cell VRB is connected to an ultrasonic sensor and charged/discharged almost to its two extremes at a constant current of 2 A under various operating temperatures. It is found that the ultrasound velocity exhibits distinct variations in accordance with changes of vanadium ion compositions in the positive electrolyte solution as the SOC of the VRB varies. The SOC obtained can be depicted in a 3D plot in terms of ultrasound velocity and operating temperature. An empirical model equation is proposed and found to fit the experimental results of both charging and discharging stages quite well. The advantages of this SOC sensing approach are that it is totally independent of VRB operations and can be readily applied to both sides of the electrodes. It is expected to develop into a dependable method for accurate and real-time monitoring of SOC for VRB.

The SCEC Unified Community Velocity Model (UCVM) Software Framework for Distributing and Querying Seismic Velocity Models

Science.gov (United States)

Maechling, P. J.; Taborda, R.; Callaghan, S.; Shaw, J. H.; Plesch, A.; Olsen, K. B.; Jordan, T. H.; Goulet, C. A.

2017-12-01

Crustal seismic velocity models and datasets play a key role in regional three-dimensional numerical earthquake ground-motion simulation, full waveform tomography, modern physics-based probabilistic earthquake hazard analysis, as well as in other related fields including geophysics, seismology, and earthquake engineering. The standard material properties provided by a seismic velocity model are P- and S-wave velocities and density for any arbitrary point within the geographic volume for which the model is defined. Many seismic velocity models and datasets are constructed by synthesizing information from multiple sources and the resulting models are delivered to users in multiple file formats, such as text files, binary files, HDF-5 files, structured and unstructured grids, and through computer applications that allow for interactive querying of material properties. The Southern California Earthquake Center (SCEC) has developed the Unified Community Velocity Model (UCVM) software framework to facilitate the registration and distribution of existing and future seismic velocity models to the SCEC community. The UCVM software framework is designed to provide a standard query interface to multiple, alternative velocity models, even if the underlying velocity models are defined in different formats or use different geographic projections. The UCVM framework provides a comprehensive set of open-source tools for querying seismic velocity model properties, combining regional 3D models and 1D background models, visualizing 3D models, and generating computational models in the form of regular grids or unstructured meshes that can be used as inputs for ground-motion simulations. The UCVM framework helps researchers compare seismic velocity models and build equivalent simulation meshes from alternative velocity models. These capabilities enable researchers to evaluate the impact of alternative velocity models in ground-motion simulations and seismic hazard analysis applications

Brief communication: The Khurdopin glacier surge revisited – extreme flow velocities and formation of a dammed lake in 2017

Directory of Open Access Journals (Sweden)

J. F. Steiner

2018-01-01

Full Text Available Glacier surges occur regularly in the Karakoram, but the driving mechanisms, their frequency and its relation to a changing climate remain unclear. In this study, we use digital elevation models and Landsat imagery in combination with high-resolution imagery from the Planet satellite constellation to quantify surface elevation changes and flow velocities during a glacier surge of the Khurdopin Glacier in 2017. Results reveal that an accumulation of ice volume above a clearly defined steep section of the glacier tongue since the last surge in 1999 eventually led to a rapid surge in May 2017 peaking with velocities above 5000 m a−1, which were among the fastest rates globally for a mountain glacier. Our data reveal that velocities on the lower tongue increase steadily during a 4-year build-up phase prior to the actual surge only to then rapidly peak and decrease again within a few months, which confirms earlier observations with a higher frequency of available velocity data. The surge return period between the reported surges remains relatively constant at ca. 20 years. We show the potential of a combination of repeat Planet and ASTER imagery to (a capture peak surge velocities that are easily missed by less frequent Landsat imagery, (b observe surface changes that indicate potential drivers of a surge and (c monitor hazards associated with a surge. At Khurdopin specifically, we observe that the surging glacier blocks the river in the valley and causes a lake to form, which may grow in subsequent years and could pose threats to downstream settlements and infrastructure in the case of a sudden breach.

Relationship between throwing velocity, muscle power, and bar velocity during bench press in elite handball players.

Science.gov (United States)

Marques, Mario C; van den Tilaar, Roland; Vescovi, Jason D; Gonzalez-Badillo, Juan Jose

2007-12-01

The purpose of this study was to examine the relationship between ball-throwing velocity during a 3-step running throw and dynamic strength, power, and bar velocity during a concentric-only bench-press exercise in team-handball players. Fourteen elite senior male team-handball players volunteered to participate. Each volunteer had power and bar velocity measured during a concentric-only bench-press test with 26, 36, and 46 kg, as well as having 1-repetition-maximum (1-RMBP) strength determined. Ball-throwing velocity was evaluated with a standard 3-step running throw using a radar gun. Ball-throwing velocity was related to the absolute load lifted during the 1-RMBP (r = .637, P = .014), peak power using 36 kg (r = .586, P = .028) and 46 kg (r = .582, P = .029), and peak bar velocity using 26 kg (r = .563, P = .036) and 36 kg (r = .625, P = .017). The results indicate that throwing velocity of elite team-handball players is related to maximal dynamic strength, peak power, and peak bar velocity. Thus, a training regimen designed to improve ball-throwing velocity in elite male team-handball players should include exercises that are aimed at increasing both strength and power in the upper body.

Velocities of gas and plasmas from real time holographic interferograms

International Nuclear Information System (INIS)

Deason, V.A.; Reynolds, L.D.; McIlwain, M.E.

1985-01-01

A truly noninvasive measurement technique for plasma velocity has not been demonstrated. Plasma velocities have been inferred using laser Doppler anemometry or photographic analysis of the position of smoke or small particles. This paper describes an alternate method based on the refractive index change created in a plasma by a gaseous probe material injected into the plasma. This disturbance of the refractive index can be monitored using interferometry. A multipass real time holographic interferometry system was used to follow the changes of the interferometric pattern, and the data was recorded using high speed cinematography. A transparent model of an industrial plasma torch was employed in these studies, and a number of different types of trace gas materials were used to track the plasma flow. Using a combination of multipass interferometry and a laser line absorbing gas, sufficient interferometric sensitivity was obtained to determine plasma velocities in the 100 m/s range. Based on these results, a working plasma torch was constructed. Further studies are planned using this torch and actual plasmas

Morozov-type discrepancy principle for nonlinear ill-posed problems ...

Indian Academy of Sciences (India)

[3] Engl H W, Kunisch K and Neubauer A, Convergence rates for Tikhonov regularization of nonliner problems, Inverse Problems 5 (1989) 523–540. [4] Hanke M, Neubauer A and Scherzer O, A convergence analysis of Landweber iteration for nonlinear ill-posed problems, Numer. Math. 72 (1995) 21–37. [5] Hofmann B and ...

Enhancing Students' Communication Skills through Problem Posing and Presentation

Science.gov (United States)

Sugito; E. S., Sri Mulyani; Hartono; Supartono

2017-01-01

This study was to explore how enhance communication skill through problem posing and presentation method. The subjects of this research were the seven grade students Junior High School, including 20 male and 14 female. This research was conducted in two cycles and each cycle consisted of four steps, they were: planning, action, observation, and…

Determination of angular rotation velocity of Dar'e wind turbine with straight blades

International Nuclear Information System (INIS)

Ershina, A.K.; Ershin, Sh.A.; Upnanov, T.K.

1999-01-01

In the report the method of angular velocity determination for wind turbine of given capacity with allowing for an average seasonal wind velocity and all geometrical and dynamical characteristics of the unit is presented. It is noted, that this wind turbine has following advantages: wind direction does not plays role due to vertical axis position of the turbine; electric generator and other equipment are arranged on the ground, that reduce construction's weight, expedite of servicing and repair; the wind turbine has high coefficient of wind energy use (ξ max =0.45)

3D Facial Landmarking under Expression, Pose, and Occlusion Variations

NARCIS (Netherlands)

H. Dibeklioğ lu; A.A. Salah (Albert Ali); L. Akarun

2008-01-01

htmlabstractAutomatic localization of 3D facial features is important for face recognition, tracking, modeling and expression analysis. Methods developed for 2D images were shown to have problems working across databases acquired with different illumination conditions. Expression variations, pose

Did Buddha turn the other cheek too? A comparison of posing biases between Jesus and Buddha.

Science.gov (United States)

Duerksen, Kari N; Friedrich, Trista E; Elias, Lorin J

2015-10-02

People tend to exhibit a leftward bias in posing. Various studies suggest that posing to the left portrays a stronger emotion, whereas posing to the right portrays a more neutral emotion. Religions such as Christianity emphasize the role of strong emotions in religious experience, whereas religions such as Buddhism emphasize the calming of emotions as being important. In the present study, we investigated if the emphasis on emotionality of a religion influences the depiction of their religious figures. Specifically, we coded 484 paintings of Jesus and Buddha from online art databases for whether the deity exhibited a left bias, right bias, or central face presentation. The posing biases were analysed to discover whether paintings of Jesus would more frequently depict a leftward bias than paintings of Buddha. Jesus is more commonly depicted with a leftward bias than Buddha, and Buddha is more commonly depicted with a central face presentation than Jesus. These findings support the idea that the amount of emotionality that is to be conveyed in artwork influences the whether the subject is posed with a leftward bias.

Frequency of gamma oscillations in humans is modulated by velocity of visual motion

Science.gov (United States)

Butorina, Anna V.; Sysoeva, Olga V.; Prokofyev, Andrey O.; Nikolaeva, Anastasia Yu.; Stroganova, Tatiana A.

2015-01-01

Gamma oscillations are generated in networks of inhibitory fast-spiking (FS) parvalbumin-positive (PV) interneurons and pyramidal cells. In animals, gamma frequency is modulated by the velocity of visual motion; the effect of velocity has not been evaluated in humans. In this work, we have studied velocity-related modulations of gamma frequency in children using MEG/EEG. We also investigated whether such modulations predict the prominence of the “spatial suppression” effect (Tadin D, Lappin JS, Gilroy LA, Blake R. Nature 424: 312-315, 2003) that is thought to depend on cortical center-surround inhibitory mechanisms. MEG/EEG was recorded in 27 normal boys aged 8–15 yr while they watched high-contrast black-and-white annular gratings drifting with velocities of 1.2, 3.6, and 6.0°/s and performed a simple detection task. The spatial suppression effect was assessed in a separate psychophysical experiment. MEG gamma oscillation frequency increased while power decreased with increasing velocity of visual motion. In EEG, the effects were less reliable. The frequencies of the velocity-specific gamma peaks were 64.9, 74.8, and 87.1 Hz for the slow, medium, and fast motions, respectively. The frequency of the gamma response elicited during slow and medium velocity of visual motion decreased with subject age, whereas the range of gamma frequency modulation by velocity increased with age. The frequency modulation range predicted spatial suppression even after controlling for the effect of age. We suggest that the modulation of the MEG gamma frequency by velocity of visual motion reflects excitability of cortical inhibitory circuits and can be used to investigate their normal and pathological development in the human brain. PMID:25925324

UNVEILING THE DETAILED DENSITY AND VELOCITY STRUCTURES OF THE PROTOSTELLAR CORE B335

Energy Technology Data Exchange (ETDEWEB)

Kurono, Yasutaka; Saito, Masao; Kamazaki, Takeshi; Morita, Koh-Ichiro; Kawabe, Ryohei, E-mail: yasutaka.kurono@nao.ac.jp [Chile Observatory, National Astronomical Observatory of Japan, Osawa 2-21-1, Mitaka, Tokyo 181-8588 (Japan)

2013-03-10

We present an observational study of the protostellar core B335 harboring a low-mass Class 0 source. The observations of the H{sup 13}CO{sup +}(J = 1-0) line emission were carried out using the Nobeyama 45 m telescope and Nobeyama Millimeter Array. Our combined image of the interferometer and single-dish data depicts detailed structures of the dense envelope within the core. We found that the core has a radial density profile of n(r){proportional_to}r {sup -p} and a reliable difference in the power-law indices between the outer and inner regions of the core: p Almost-Equal-To 2 for r {approx}> 4000 AU and p Almost-Equal-To 1.5 for r {approx}< 4000 AU. The dense core shows a slight overall velocity gradient of {approx}1.0 km s{sup -1} over the scale of 20, 000 AU across the outflow axis. We believe that this velocity gradient represents a solid-body-like rotation of the core. The dense envelope has a quite symmetrical velocity structure with a remarkable line broadening toward the core center, which is especially prominent in the position-velocity diagram across the outflow axis. The model calculations of position-velocity diagrams do a good job of reproducing observational results using the collapse model of an isothermal sphere in which the core has an inner free-fall region and an outer region conserving the conditions at the formation stage of a central stellar object. We derived a central stellar mass of {approx}0.1 M{sub Sun }, and suggest a small inward velocity, v{sub r{>=}r{sub i{sub n{sub f}}}}{approx}0 km s{sup -1} in the outer core at {approx}> 4000 AU. We concluded that our data can be well explained by gravitational collapse with a quasi-static initial condition, such as Shu's model, or by the isothermal collapse of a marginally critical Bonnor-Ebert sphere.

Estimating the Wet-Rock P-Wave Velocity from the Dry-Rock P-Wave Velocity for Pyroclastic Rocks

Science.gov (United States)

Kahraman, Sair; Fener, Mustafa; Kilic, Cumhur Ozcan

2017-07-01

Seismic methods are widely used for the geotechnical investigations in volcanic areas or for the determination of the engineering properties of pyroclastic rocks in laboratory. Therefore, developing a relation between the wet- and dry-rock P-wave velocities will be helpful for engineers when evaluating the formation characteristics of pyroclastic rocks. To investigate the predictability of the wet-rock P-wave velocity from the dry-rock P-wave velocity for pyroclastic rocks P-wave velocity measurements were conducted on 27 different pyroclastic rocks. In addition, dry-rock S-wave velocity measurements were conducted. The test results were modeled using Gassmann's and Wood's theories and it was seen that estimates for saturated P-wave velocity from the theories fit well measured data. For samples having values of less and greater than 20%, practical equations were derived for reliably estimating wet-rock P-wave velocity as function of dry-rock P-wave velocity.

The positive ion injector for ALPI

International Nuclear Information System (INIS)

Bisoffi, G.

1996-01-01

In the framework of the ALPI upgrading, a new positive ion injector is foreseen in order to be able to accelerate ions with masses of the order of 200 and with high charge states from the velocity of β=0.009 up to β=0.055. The structures chosen for that velocity range are superconducting radio frequency quadrupoles operating at a frequency of 80 MHz, which is the operating frequency of the ALPI low β cavities. The paper describes the current status of the project including beam dynamics, cavity design, beam transfer lines and vacuum, control and cryogenic systems. (orig.)

Effect of Core Training on Male Handball Players' Throwing Velocity.

Science.gov (United States)

Manchado, Carmen; García-Ruiz, José; Cortell-Tormo, Juan Manuel; Tortosa-Martínez, Juan

2017-02-01

In handball, throwing velocity is considered to be one of the essential factors in achieving the ultimate aim of scoring a goal. The objective of the present study was to analyze the effect of a core training program on throwing velocity in 30 handball players (age 18.7 ± 3.4 years, body height 179.3 ± 7.0 cm, body mass 78.9 ± 7.7 kg), 16 of whom were in the junior category and 14 of whom were in the senior category. The 30 players were randomly divided into two groups, the control group (n = 15) and the experimental group (n = 15). For a period of ten weeks, both groups attended their regular handball training sessions (four per week), but in addition, the experimental group participated in a program specifically aimed at progressively strengthening the lumbo-pelvic region and consisting of seven exercises performed after the general warm-up in each regular session. Pre- and post-tests were carried out to analyze each player's throwing velocity from different throwing positions and thus assess the effects of this specific training program. Statistically significant differences (p ≤ 0.05) in throwing velocity were observed between the experimental group, which presented a percentage improvement of 4.5%, and the control group, which did not show any improvement. The results seem to indicate that an increase in the strength and stability of the lumbo-pelvic region can contribute to an improvement in the kinetic chain of the specific movement of throwing in handball, thus, increasing throwing velocity.

Effect of Core Training on Male Handball Players’ Throwing Velocity

Science.gov (United States)

García-Ruiz, José; Cortell-Tormo, Juan Manuel; Tortosa-Martínez, Juan

2017-01-01

Abstract In handball, throwing velocity is considered to be one of the essential factors in achieving the ultimate aim of scoring a goal. The objective of the present study was to analyze the effect of a core training program on throwing velocity in 30 handball players (age 18.7 ± 3.4 years, body height 179.3 ± 7.0 cm, body mass 78.9 ± 7.7 kg), 16 of whom were in the junior category and 14 of whom were in the senior category. The 30 players were randomly divided into two groups, the control group (n = 15) and the experimental group (n = 15). For a period of ten weeks, both groups attended their regular handball training sessions (four per week), but in addition, the experimental group participated in a program specifically aimed at progressively strengthening the lumbo-pelvic region and consisting of seven exercises performed after the general warm-up in each regular session. Pre- and post-tests were carried out to analyze each player’s throwing velocity from different throwing positions and thus assess the effects of this specific training program. Statistically significant differences (p ≤ 0.05) in throwing velocity were observed between the experimental group, which presented a percentage improvement of 4.5%, and the control group, which did not show any improvement. The results seem to indicate that an increase in the strength and stability of the lumbo-pelvic region can contribute to an improvement in the kinetic chain of the specific movement of throwing in handball, thus, increasing throwing velocity. PMID:28469756

Radial variation in sap velocity as a function of stem diameter and sapwood thickness in yellow-poplar trees.

Science.gov (United States)

Wullschleger, Stan D.; King, Anthony W.

2000-04-01

Canopy transpiration and forest water use are frequently estimated as the product of sap velocity and cross-sectional sapwood area. Few studies, however, have considered whether radial variation in sap velocity and the proportion of sapwood active in water transport are significant sources of uncertainty in the extrapolation process. Therefore, radial profiles of sap velocity were examined as a function of stem diameter and sapwood thickness for yellow-poplar (Liriodendron tulipifera L.) trees growing on two adjacent watersheds in eastern Tennessee. The compensation heat pulse velocity technique was used to quantify sap velocity at four equal-area depths in 20 trees that ranged in stem diameter from 15 to 69 cm, and in sapwood thickness from 2.1 to 14.8 cm. Sap velocity was highly dependent on the depth of probe insertion into the sapwood. Rates of sap velocity were greatest for probes located in the two outer sapwood annuli (P1 and P2) and lowest for probes in closest proximity to the heartwood (P3 and P4). Relative sap velocities averaged 0.98 at P1, 0.66 at P2, 0.41 at P3 and 0.35 at P4. Tree-specific sap velocities measured at each of the four probe positions, divided by the maximum sap velocity measured (usually at P1 or P2), indicated that the fraction of sapwood functional in water transport (f(S)) varied between 0.49 and 0.96. There was no relationship between f(S) and sapwood thickness, or between f(S) and stem diameter. The fraction of functional sapwood averaged 0.66 +/- 0.13 for trees on which radial profiles were determined. No significant depth-related differences were observed for sapwood density, which averaged 469 kg m(-3) across all four probe positions. There was, however, a significant decline in sapwood water content between the two outer probe positions (1.04 versus 0.89 kg kg(-1)). This difference was not sufficient to account for the observed radial variation in sap velocity. A Monte-Carlo analysis indicated that the standard error in

Control and System Theory, Optimization, Inverse and Ill-Posed Problems

Science.gov (United States)

1988-09-14

Justlfleatlen Distribut ion/ Availability Codes # AFOSR-87-0350 Avat’ and/or1987-1988 Dist Special *CONTROL AND SYSTEM THEORY , ~ * OPTIMIZATION, * INVERSE...considerable va- riety of research investigations within the grant areas (Control and system theory , Optimization, and Ill-posed problems]. The

Influence of upper body position on middle cerebral artery blood velocity during continuous positive airway pressure breathing

DEFF Research Database (Denmark)

Højlund Rasmussen, J; Mantoni, T; Belhage, B

2007-01-01

Continuous positive airway pressure (CPAP) is a treatment modality for pulmonary oxygenation difficulties. CPAP impairs venous return to the heart and, in turn, affects cerebral blood flow (CBF) and augments cerebral blood volume (CBV). We considered that during CPAP, elevation of the upper body ...

Field Testing of an In-well Point Velocity Probe for the Rapid Characterization of Groundwater Velocity

Science.gov (United States)

Osorno, T.; Devlin, J. F.

2017-12-01

Reliable estimates of groundwater velocity is essential in order to best implement in-situ monitoring and remediation technologies. The In-well Point Velocity Probe (IWPVP) is an inexpensive, reusable tool developed for rapid measurement of groundwater velocity at the centimeter-scale in monitoring wells. IWPVP measurements of groundwater speed are based on a small-scale tracer test conducted as ambient groundwater passes through the well screen and the body of the probe. Horizontal flow direction can be determined from the difference in tracer mass passing detectors placed in four funnel-and-channel pathways through the probe, arranged in a cross pattern. The design viability of the IWPVP was confirmed using a two-dimensional numerical model in Comsol Multiphysics, followed by a series of laboratory tank experiments in which IWPVP measurements were calibrated to quantify seepage velocities in both fine and medium sand. Lab results showed that the IWPVP was capable of measuring the seepage velocity in less than 20 minutes per test, when the seepage velocity was in the range of 0.5 to 4.0 m/d. Further, the IWPVP estimated the groundwater speed with a precision of ± 7%, and an accuracy of ± 14%, on average. The horizontal flow direction was determined with an accuracy of ± 15°, on average. Recently, a pilot field test of the IWPVP was conducted in the Borden aquifer, C.F.B. Borden, Ontario, Canada. A total of approximately 44 IWPVP tests were conducted within two 2-inch groundwater monitoring wells comprising a 5 ft. section of #8 commercial well screen. Again, all tests were completed in under 20 minutes. The velocities estimated from IWPVP data were compared to 21 Point Velocity Probe (PVP) tests, as well as Darcy-based estimates of groundwater velocity. Preliminary data analysis shows strong agreement between the IWPVP and PVP estimates of groundwater velocity. Further, both the IWPVP and PVP estimates of groundwater velocity appear to be reasonable when

Interface condition for the Darcy velocity at the water-oil flood front in the porous medium.

Science.gov (United States)

Peng, Xiaolong; Liu, Yong; Liang, Baosheng; Du, Zhimin

2017-01-01

Flood front is the jump interface where fluids distribute discontinuously, whose interface condition is the theoretical basis of a mathematical model of the multiphase flow in porous medium. The conventional interface condition at the jump interface is expressed as the continuous Darcy velocity and fluid pressure (named CVCM). Our study has inspected this conclusion. First, it is revealed that the principle of mass conservation has no direct relation to the velocity conservation, and the former is not the true foundation of the later, because the former only reflects the kinetic characteristic of the fluid particles at one position(the interface), but not the different two parts of fluid on the different side of the interface which required by the interface conditions. Then the reasonableness of CVCM is queried from the following three aspects:(1)Using Mukat's two phase seepage equation and the mathematical method of apagoge, we have disproved the continuity of each fluid velocity;(2)Since the analytical solution of the equation of Buckley-Leveret equations is acquirable, its velocity jumps at the flood front presents an appropriate example to disprove the CVCM;(3) The numerical simulation model gives impractical result that flood front would stop moving if CVCM were used to calculate the velocities at the interface between two gridcells. Subsequently, a new one, termed as Jump Velocity Condition Model (JVCM), is deduced from Muskat's two phase seepage equations and Darcy's law without taking account of the capillary force and compressibility of rocks and fluids. Finally, several cases are presented. And the comparisons of the velocity, pressure difference and the front position, which are given by JVCM, CVCM and SPU, have shown that the result of JVCM is the closest to the exact solution.

Interface condition for the Darcy velocity at the water-oil flood front in the porous medium.

Directory of Open Access Journals (Sweden)

Xiaolong Peng

Full Text Available Flood front is the jump interface where fluids distribute discontinuously, whose interface condition is the theoretical basis of a mathematical model of the multiphase flow in porous medium. The conventional interface condition at the jump interface is expressed as the continuous Darcy velocity and fluid pressure (named CVCM. Our study has inspected this conclusion. First, it is revealed that the principle of mass conservation has no direct relation to the velocity conservation, and the former is not the true foundation of the later, because the former only reflects the kinetic characteristic of the fluid particles at one position(the interface, but not the different two parts of fluid on the different side of the interface which required by the interface conditions. Then the reasonableness of CVCM is queried from the following three aspects:(1Using Mukat's two phase seepage equation and the mathematical method of apagoge, we have disproved the continuity of each fluid velocity;(2Since the analytical solution of the equation of Buckley-Leveret equations is acquirable, its velocity jumps at the flood front presents an appropriate example to disprove the CVCM;(3 The numerical simulation model gives impractical result that flood front would stop moving if CVCM were used to calculate the velocities at the interface between two gridcells. Subsequently, a new one, termed as Jump Velocity Condition Model (JVCM, is deduced from Muskat's two phase seepage equations and Darcy's law without taking account of the capillary force and compressibility of rocks and fluids. Finally, several cases are presented. And the comparisons of the velocity, pressure difference and the front position, which are given by JVCM, CVCM and SPU, have shown that the result of JVCM is the closest to the exact solution.

Prostate-Specific Antigen Velocity Before and After Elimination of Factors That Can Confound the Prostate-Specific Antigen Level

International Nuclear Information System (INIS)

Park, Jessica J.; Chen, Ming-Hui; Loffredo, Marian; D’Amico, Anthony V.

2012-01-01

Purpose: Prostate-specific antigen (PSA) velocity, like PSA level, can be confounded. In this study, we estimated the impact that confounding factors could have on correctly identifying a patient with a PSA velocity >2 ng/ml/y. Methods and Materials: Between 2006 and 2010, a total of 50 men with newly diagnosed PC comprised the study cohort. We calculated and compared the false-positive and false-negative PSA velocity >2 ng/ml/y rates for all men and those with low-risk disease using two approaches to calculate PSA velocity. First, we used PSA values obtained within 18 months of diagnosis; second, we used values within 18 months of diagnosis, substituting the prebiopsy PSA for a repeat, nonconfounded PSA that was obtained using the same assay and without confounders. Results: Using PSA levels pre-biopsy, 46% of all men had a PSA velocity >2 ng/ml/y; whereas this value declined to 32% when substituting the last prebiopsy PSA for a repeat, nonconfounded PSA using the same assay and without confounders. The false-positive rate for PSA velocity >2 ng/ml/y was 43% as compared with a false-negative rate of PSA velocity >2 ng/ml/y of 11% (p = 0.0008) in the overall cohort. These respective values in the low-risk subgroup were 60% and 16.7% (p = 0.09). Conclusion: This study provides evidence to explain the discordance in cancer-specific outcomes among groups investigating the prognostic significance of PSA velocity >2 ng/ml/y, and highlights the importance of patient education on potential confounders of the PSA test before obtaining PSA levels.

Relative Pose Estimation and Accuracy Verification of Spherical Panoramic Image

Directory of Open Access Journals (Sweden)

XIE Donghai

2017-11-01

Full Text Available This paper improves the method of the traditional 5-point relative pose estimation algorithm, and proposes a relative pose estimation algorithm which is suitable for spherical panoramic images. The algorithm firstly computes the essential matrix, then decomposes the essential matrix to obtain the rotation matrix and the translation vector using SVD, and finally the reconstructed three-dimensional points are used to eliminate the error solution. The innovation of the algorithm lies the derivation of panorama epipolar formula and the use of the spherical distance from the point to the epipolar plane as the error term for the spherical panorama co-planarity function. The simulation experiment shows that when the random noise of the image feature points is within the range of pixel, the error of the three Euler angles is about 0.1°, and the error between the relative translational displacement and the simulated value is about 1.5°. The result of the experiment using the data obtained by the vehicle panorama camera and the POS shows that:the error of the roll angle and pitch angle can be within 0.2°, the error of the heading angle can be within 0.4°, and the error between the relative translational displacement and the POS can be within 2°. The result of our relative pose estimation algorithm is used to generate the spherical panoramic epipolar images, then we extract the key points between the spherical panoramic images and calculate the errors in the column direction. The result shows that the errors is less than 1 pixel.

Optimal centralized and decentralized velocity feedback control on a beam

International Nuclear Information System (INIS)

Engels, W P; Elliott, S J

2008-01-01

This paper considers the optimization of a velocity feedback controller with a collocated force actuator, to minimize the kinetic energy of a simply supported beam. If the beam is excited at a single location, the optimum feedback gain varies with the position of the control system. It is shown that this variation depends partly on the location of the control force relative to the exciting force. If a distributed excitation is assumed, that is random in both time and space, a unique optimum value of the feedback gain can be found for a given control location. The effect of the control location on performance and the optimal feedback gain can then be examined and is found to be limited provided the control locations are not close to the ends of the beam. The optimization can also be performed for a multichannel velocity feedback system. Both a centralized and a decentralized controller are considered. It is shown that the difference in performance between a centralized and a decentralized controller is small, unless the control locations are closely spaced. In this case the centralized controller effectively feeds back a moment proportional to angular velocity as well as a force proportional to a velocity. It is also shown that the optimal feedback gain can be approximated on the basis of a limited model and that similar results can be achieved

GPS Position Time Series @ JPL

Science.gov (United States)

Owen, Susan; Moore, Angelyn; Kedar, Sharon; Liu, Zhen; Webb, Frank; Heflin, Mike; Desai, Shailen

2013-01-01

Different flavors of GPS time series analysis at JPL - Use same GPS Precise Point Positioning Analysis raw time series - Variations in time series analysis/post-processing driven by different users. center dot JPL Global Time Series/Velocities - researchers studying reference frame, combining with VLBI/SLR/DORIS center dot JPL/SOPAC Combined Time Series/Velocities - crustal deformation for tectonic, volcanic, ground water studies center dot ARIA Time Series/Coseismic Data Products - Hazard monitoring and response focused center dot ARIA data system designed to integrate GPS and InSAR - GPS tropospheric delay used for correcting InSAR - Caltech's GIANT time series analysis uses GPS to correct orbital errors in InSAR - Zhen Liu's talking tomorrow on InSAR Time Series analysis

Trajectory and velocity measurement of a particle in spray by digital holography

Energy Technology Data Exchange (ETDEWEB)

Lue Qieni; Chen Yiliang; Yuan Rui; Ge Baozhen; Gao Yan; Zhang Yimo

2009-12-20

We present a method for the trajectory and the velocity measurement of a particle in spray by digital holography. Based on multiple exposure digital in-line holography, a sequence of digital holograms of a dynamic spray particle field at different times are recorded with a CW laser and a high-speed CCD. The time evolution of the serial positions of particles, i.e., the motion trajectories of the particles, is obtained by numerically reconstructing the synthetic hologram of a sequence of digital holograms. The center coordinate (x,y) of each particle image can be extracted using a Hough transform and subpixel precision computing, and the velocity of an individual particle can also be obtained, which is then applied to measuring the velocity of diesel spray and alcohol spray. The research shows that the method presented in this paper for measuring spray field is feasible.

A problem-posing approach to teaching the topic of radioactivity

NARCIS (Netherlands)

Klaassen, C.W.J.M.

1995-01-01

This thesis highlights a problem-posing approach to science education. By this is meant an approach that explicitly aims at providing students with content-related motives for extending their existing conceptual resources, experiential base and belief system in a certain direction, such that a

Effects of pose and image resolution on automatic face recognition

NARCIS (Netherlands)

Mahmood, Zahid; Ali, Tauseef; Khan, Samee U.

The popularity of face recognition systems have increased due to their use in widespread applications. Driven by the enormous number of potential application domains, several algorithms have been proposed for face recognition. Face pose and image resolutions are among the two important factors that

Regularization theory for ill-posed problems selected topics

CERN Document Server

Lu, Shuai

2013-01-01

Thismonograph is a valuable contribution to thehighly topical and extremly productive field ofregularisationmethods for inverse and ill-posed problems. The author is an internationally outstanding and acceptedmathematicianin this field. In his book he offers a well-balanced mixtureof basic and innovative aspects.He demonstrates new,differentiatedviewpoints, and important examples for applications. The bookdemontrates thecurrent developments inthe field of regularization theory,such as multiparameter regularization and regularization in learning theory. The book is written for graduate and PhDs

Velocity Dispersions Across Bulge Types

International Nuclear Information System (INIS)

Fabricius, Maximilian; Bender, Ralf; Hopp, Ulrich; Saglia, Roberto; Drory, Niv; Fisher, David

2010-01-01

We present first results from a long-slit spectroscopic survey of bulge kinematics in local spiral galaxies. Our optical spectra were obtained at the Hobby-Eberly Telescope with the LRS spectrograph and have a velocity resolution of 45 km/s (σ*), which allows us to resolve the velocity dispersions in the bulge regions of most objects in our sample. We find that the velocity dispersion profiles in morphological classical bulge galaxies are always centrally peaked while the velocity dispersion of morphologically disk-like bulges stays relatively flat towards the center--once strongly barred galaxies are discarded.

Estimation of vector velocity

DEFF Research Database (Denmark)

2000-01-01

Using a pulsed ultrasound field, the two-dimensional velocity vector can be determined with the invention. The method uses a transversally modulated ultrasound field for probing the moving medium under investigation. A modified autocorrelation approach is used in the velocity estimation. The new...

Analysis of photosynthate translocation velocity and measurement of weighted average velocity in transporting pathway of crops

International Nuclear Information System (INIS)

Ge Cailin; Luo Shishi; Gong Jian; Zhang Hao; Ma Fei

1996-08-01

The translocation profile pattern of 14 C-photosynthate along the transporting pathway in crops were monitored by pulse-labelling a mature leaf with 14 CO 2 . The progressive spreading of translocation profile pattern along the sheath or stem indicates that the translocation of photosynthate along the sheath or stem proceed with a range of velocities rather than with just a single velocity. The method for measuring the weighted average velocity of photosynthate translocation along the sheath or stem was established in living crops. The weighted average velocity and the maximum velocity of photosynthate translocation along the sheath in rice and maize were measured actually. (4 figs., 3 tabs.)

Force-Velocity-Power Assessment in Semiprofessional Rugby Union Players.

Science.gov (United States)

McMaster, Daniel T; Gill, Nicholas D; Cronin, John B; McGuigan, Michael R

2016-04-01

There is a constant and necessary evolution of training and assessment methods in the elite contact sports; as is required to continually improve the physical qualities of these respective athletes to match the growing sport and position-specific performance demands. Our aim was to examine the differences between ballistic upper body performance profiles and maximum upper body strength of elite rugby union forwards and backs. Twenty semiprofessional male rugby union players (age = 21.1 ± 3.0 years; mass = 94.9 ± 9.7 kg) were assessed for maximum bench press strength (1RM bench press = 121.3 ± 21.8 kg) and maximum throw power (Pmax), force (Fmax), and velocity (V[Combining Dot Above]max) from an incremental relative load testing protocol (15, 30, 45, 60, and 75% 1RM). Player rankings were also included to identify individual strength and weaknesses. The forwards were moderately stronger (effect size [ES] = 0.96; p = 0.01), produced significantly greater Fmax (ES = 1.17-1.41; p = 0.01) and were more powerful (ES = 0.57-0.64; p 0.15). There were inherent differences in strength and Fmax between the forwards and backs most likely because of the physical demands of these respective positions. Improvements in upper body strength may in turn improve ballistic force and power production, but not necessarily velocity capabilities. From the Fmax and V[Combining Dot Above]max observations, the forwards seem to be more force dominant and the backs more velocity dominant. Pmax, Fmax, and V[Combining Dot Above]max may be used to highlight proficient and deficient areas in ballistic upper body performance; the individual rankings could be further used to identify and possibly rectify individual deficiencies.

Control rod velocity limiter

International Nuclear Information System (INIS)

Cearley, J.E.; Carruth, J.C.; Dixon, R.C.; Spencer, S.S.; Zuloaga, J.A. Jr.

1986-01-01

This patent describes a velocity control arrangement for a reciprocable, vertically oriented control rod for use in a nuclear reactor in a fluid medium, the control rod including a drive hub secured to and extending from one end therefrom. The control device comprises: a toroidally shaped control member spaced from and coaxially positioned around the hub and secured thereto by a plurality of spaced radial webs thereby providing an annular passage for fluid intermediate the hub and the toroidal member spaced therefrom in coaxial position. The side of the control member toward the control rod has a smooth generally conical surface. The side of the control member away from the control rod is formed with a concave surface constituting a single annular groove. The device also comprises inner and outer annular vanes radially spaced from one another and spaced from the side of the control member away from the control rod and positioned coaxially around and spaced from the hub and secured thereto by spaced radial webs thereby providing an annular passage for fluid intermediate the hub and the vanes. The vanes are angled toward the control member, the outer edge of the inner vane being closer to the control member and the inner edge of the outer vane being closer to the control member. When the control rod moves in the fluid in the direction toward the drive hub the vanes direct a flow of fluid turbulence which provides greater resistance to movement of the control rod in the direction toward the drive hub than in the other direction

Camera pose estimation for augmented reality in a small indoor dynamic scene

Science.gov (United States)

Frikha, Rawia; Ejbali, Ridha; Zaied, Mourad

2017-09-01

Camera pose estimation remains a challenging task for augmented reality (AR) applications. Simultaneous localization and mapping (SLAM)-based methods are able to estimate the six degrees of freedom camera motion while constructing a map of an unknown environment. However, these methods do not provide any reference for where to insert virtual objects since they do not have any information about scene structure and may fail in cases of occlusion of three-dimensional (3-D) map points or dynamic objects. This paper presents a real-time monocular piece wise planar SLAM method using the planar scene assumption. Using planar structures in the mapping process allows rendering virtual objects in a meaningful way on the one hand and improving the precision of the camera pose and the quality of 3-D reconstruction of the environment by adding constraints on 3-D points and poses in the optimization process on the other hand. We proposed to benefit from the 3-D planes rigidity motion in the tracking process to enhance the system robustness in the case of dynamic scenes. Experimental results show that using a constrained planar scene improves our system accuracy and robustness compared with the classical SLAM systems.

Effects of Port Shape on Steady Flow Characteristics in an SI Engine with Semi-Wedge Combustion Chamber (2) - Velocity Distribution (2)

Energy Technology Data Exchange (ETDEWEB)

Yoon, Inkyoung; Ohm, Inyong [Seoul Nat’l Univ. of Science and Technology, Seoul (Korea, Republic of)

2017-02-15

This study is the second investigation on the steady flow characteristics of an SI engine with a semi-edge combustion chamber as a function of the port shape with varying evaluation positions. For this purpose, the planar velocity profiles were measured from 1.75B, 1.75 times of bore position apart from the bottom of head, to 6.00B positions using particle – image velocimetry. The flow patterns were examined with both a straight and a helical port. The velocity profiles, streamlines, and centers of swirl were almost the same at the same valve lift regardless of the measuring position, which is quite different from the case of the pent-roof combustion chamber. All the eccentricity values of the straight port were out of distortion criterion 0.15 through the lifts and the position. However, the values of the helical port exceeded the distortion criterion by up to 4 mm lift, but decreased rapidly above the 3.00B position and the 5 mm lift. There always existed a relative offset effect in the evaluation of the swirl coefficient using the PIV method due to the difference of the ideal impulse swirl meter velocity profile assumption, except for the cylinder-center-base estimation that was below 4 mm of the straight port. Finally, it was concluded that taking the center as an evaluation basis and the assumption about the axial velocity profile did not have any qualitative effect on swirl evaluation, but affected the value owing to the detailed profile.

An Optimal Enhanced Kalman Filter for a ZUPT-Aided Pedestrian Positioning Coupling Model.

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Fan, Qigao; Zhang, Hai; Sun, Yan; Zhu, Yixin; Zhuang, Xiangpeng; Jia, Jie; Zhang, Pengsong

2018-05-02

Aimed at overcoming the problems of cumulative errors and low positioning accuracy in single Inertial Navigation Systems (INS), an Optimal Enhanced Kalman Filter (OEKF) is proposed in this paper to achieve accurate positioning of pedestrians within an enclosed environment. Firstly, the errors of the inertial sensors are analyzed, modeled, and reconstructed. Secondly, the cumulative errors in attitude and velocity are corrected using the attitude fusion filtering algorithm and Zero Velocity Update algorithm (ZUPT), respectively. Then, the OEKF algorithm is described in detail. Finally, a pedestrian indoor positioning experimental platform is established to verify the performance of the proposed positioning system. Experimental results show that the accuracy of the pedestrian indoor positioning system can reach 0.243 m, giving it a high practical value.

A Study on the Compatibility of 3-D Seismic Velocity Structures with Gravity Data of Taiwan

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Horng-Yuan Yen Hsien-Hsiang Hsieh

2010-01-01

Full Text Available The Bouguer anomaly of Taiwan has been revised in this study based on more accurate terrain data provided by the Taiwanese Digital Terrain Model compiled by the Taiwan Forestry Bureau. Three seismic velocity models, those determined by Rau and Wu (1995, Kim et al. (2005, and Wu et al. (2007 respectively, were selected for our study. We converted their velocity models to density models using the relationship between P-wave velocity and rock density proposed by Ludwig et al. (1970 and Barton (1986, and then calculated their corresponding gravity anomalies. According to the correlation coefficient between the Bouguer anomalies calculated from the velocity models and the revised Bouguer anomalies, the Kim et al. model was more compatible with gravity data than the other two velocity models. The differences between the revised gravity anomaly and the calculated gravity anomalies trend toward positive values at elevations higher than 2000 m. This indicates that the velocities at the shallower depths beneath the mountainous area of the three models are overdetermined, i.e., higher than the real velocities. This ratiocination implies that the crustal thickness beneath the Central Range is less than 55 km which was obtained from the velocity models.

Effects of velocity and weight support on ground reaction forces and metabolic power during running.

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Grabowski, Alena M; Kram, Rodger

2008-08-01

The biomechanical and metabolic demands of human running are distinctly affected by velocity and body weight. As runners increase velocity, ground reaction forces (GRF) increase, which may increase the risk of an overuse injury, and more metabolic power is required to produce greater rates of muscular force generation. Running with weight support attenuates GRFs, but demands less metabolic power than normal weight running. We used a recently developed device (G-trainer) that uses positive air pressure around the lower body to support body weight during treadmill running. Our scientific goal was to quantify the separate and combined effects of running velocity and weight support on GRFs and metabolic power. After obtaining this basic data set, we identified velocity and weight support combinations that resulted in different peak GRFs, yet demanded the same metabolic power. Ideal combinations of velocity and weight could potentially reduce biomechanical risks by attenuating peak GRFs while maintaining aerobic and neuromuscular benefits. Indeed, we found many combinations that decreased peak vertical GRFs yet demanded the same metabolic power as running slower at normal weight. This approach of manipulating velocity and weight during running may prove effective as a training and/or rehabilitation strategy.

Design and construction of an electromechanical velocity modulator for Mössbauer spectroscopy

International Nuclear Information System (INIS)

Velásquez, A. A.; Carmona, A.; Velásquez, D.; Ángel, L.

2011-01-01

In this paper we report the design, construction and characterization of an electromechanical velocity modulator for application in Mössbauer spectroscopy. The modulator was constructed with copper coils, Neodymium magnets, steel cores and polymeric membranes. The magnetic field in the driving and velocity sensing stages was analyzed by the finite element method, which showed a linear relation between the magnetic field in the region of motion of both coils and the position of the coils within the steel cores. The results obtained by computational simulation allowed us to optimize geometries and dimensions of the elements of the system. The modulator presented its first resonance frequency at 16.7 Hz, this value was in good agreement with that predicted by a second order model, which showed a resonant frequency of 16.8 Hz. The linearity of the velocity signal of the modulator was analyzed through an optical method, based on a Michelson–Morley interferometer, in which the modulator moved one of the mirrors. Results showed a satisfactory linearity of the velocity signal obtained in the sensing coil, whose correlation with a straight line was around 0.99987 for a triangular reference waveform.

Dynamics of the solar magnetic field. V. Velocities associated with changing magnetic fields

International Nuclear Information System (INIS)

Levine, R.H.; Nakagawa, Y.

1975-01-01

Methods of determining horizontal velocities from the magnetic induction equation on the basis of a time series of magnetogram observations are discussed. For the flare of 1972 August 7, it is shown that a previously developed method of predicting positions of likely flare activity provides reasonable agreement with observations. Limitations to this type of solution of the magnetic induction equation are pointed out, and unambiguous solutions, corresponding to phenomenological determinations of velocity patterns under various physical circumstances, are presented for simple magnetic configurations. Implications for the analysis of changes in a series of magnetogram observations are discussed

PRA has many faces - can the safety goal be well-posed

International Nuclear Information System (INIS)

Bargmann, H.

1983-01-01

The question is discussed whether probabilistic reliability problems can, principally, be well-posed in practical situations. The problem is reduced to the question whether an underlying probabilistic experiment which is, essentially, the set of outcomes can be precisely specified such that the solution of the problem is unique. Upon reexamination of a classical paradox due to Bertrand and consideration of a typical problem of structural reliability we conclude that the possibility of well-posing a reliability problem should be considered illusory, for fundamental reasons which are inherent in practical situations. In particular, it should not be assumed that a quantitative safety goal could be verified. Generally, a probabilistic assessment should be considered as a quantitative method for establishing rational results which should, however, not be viewed as quantitative measures but as qualitative guides

On whistler-mode group velocity

International Nuclear Information System (INIS)

Sazhin, S.S.

1986-01-01

An analytical of the group velocity of whistler-mode waves propagating parallel to the magnetic field in a hot anisotropic plasma is presented. Some simple approximate formulae, which can be used for the magnetospheric applications, are derived. These formulae can predict some properties of this group velocity which were not previously recognized or were obtained by numerical methods. In particular, it is pointed out that the anisotropy tends to compensate for the influence of the electron temperature on the value of the group velocity when the wave frequency is well below the electron gyrofrequency. It is predicted, that under conditions at frequencies near the electron gyrofrequency, this velocity tends towards zero

Estimation de pose omnidirectionnelle dans un contexte de réalité augmentée

OpenAIRE

Poirier, Stéphane

2012-01-01

Estimer la pose de la caméra est un défi fondamental en réalité augmentée et permet la superposition d’un modèle à la réalité. Estimer précisément la pose est souvent critique en ingénierie d’infrastructures. Les images omnidirectionnelles ont un champ de vision supérieur aux images planaires communément utilisées en RA. Cette propriété peut bénéficier à l’estimation de la pose. Or, aucun travail ne présente de résultats montrant clairement un gain de précision. Notre objectif est de quantifi...

Mathematical Thinking and Creativity through Mathematical Problem Posing and Solving

Science.gov (United States)

Ayllón, María F.; Gómez, Isabel A.; Ballesta-Claver, Julio

2016-01-01

This work shows the relationship between the development of mathematical thinking and creativity with mathematical problem posing and solving. Creativity and mathematics are disciplines that do not usually appear together. Both concepts constitute complex processes sharing elements, such as fluency (number of ideas), flexibility (range of ideas),…

Characteristic wave velocities in spherical electromagnetic cloaks

International Nuclear Information System (INIS)

Yaghjian, A D; Maci, S; Martini, E

2009-01-01

We investigate the characteristic wave velocities in spherical electromagnetic cloaks, namely, phase, ray, group and energy-transport velocities. After deriving explicit expressions for the phase and ray velocities (the latter defined as the phase velocity along the direction of the Poynting vector), special attention is given to the determination of group and energy-transport velocities, because a cursory application of conventional formulae for local group and energy-transport velocities can lead to a discrepancy between these velocities if the permittivity and permeability dyadics are not equal over a frequency range about the center frequency. In contrast, a general theorem can be proven from Maxwell's equations that the local group and energy-transport velocities are equal in linear, lossless, frequency dispersive, source-free bianisotropic material. This apparent paradox is explained by showing that the local fields of the spherical cloak uncouple into an E wave and an H wave, each with its own group and energy-transport velocities, and that the group and energy-transport velocities of either the E wave or the H wave are equal and thus satisfy the general theorem.

Velocity slice imaging for dissociative electron attachment

Science.gov (United States)

Nandi, Dhananjay; Prabhudesai, Vaibhav S.; Krishnakumar, E.; Chatterjee, A.

2005-05-01

A velocity slice imaging method is developed for measuring the angular distribution of fragment negative ions arising from dissociative electron attachment (DEA) to molecules. A low energy pulsed electron gun, a pulsed field ion extraction, and a two-dimensional position sensitive detector consisting of microchannel plates and a wedge-and-strip anode are used for this purpose. Detection and storage of each ion separately for its position and flight time allows analysis of the data offline for any given time slice, without resorting to pulsing the detector bias. The performance of the system is evaluated by measuring the angular distribution of O- from O2 and comparing it with existing data obtained using conventional technique. The capability of this technique in obtaining forward and backward angular distribution data is shown to have helped in resolving one of the existing problems in the electron scattering on O2.

Two-dimensional simulation of positive and negative streamers in air

International Nuclear Information System (INIS)

Babaeva, N.Yu.; Naidis, G.V.

1998-01-01

The paper deals with 2D numerical simulation of positive and negative streamers in air at atmospheric pressure. The dynamics of an axially symmetric streamer based on a charged sphere is described by a coupled system of equations for the electric field and the density of charged particles. The results of simulation show that the production rate of radicals in short sphere-plane gaps depends only weakly on the discharge conditions, that the streamer velocity in uniform field depends linearly on the streamer length, and the field corresponding to the negative streamer propagation with a constant velocity is 2-3 times greater than that obtained with a positive streamer. (J.U.)

Evaluation of droplet velocity and size from nasal spray devices using phase Doppler anemometry (PDA).

Science.gov (United States)

Liu, Xiaofei; Doub, William H; Guo, Changning

2010-03-30

To determine aerosol deposition during the inhalation drug delivery, it is important to understand the combination of velocity and droplet size together. In this study, phase Doppler anemometry (PDA) was used to simultaneously characterize the aerosol velocity and droplet size distribution (DSD) of three nasal spray pumps filled with water. Thirteen sampling positions were located in the horizontal cross-sectional area of the nasal spray plumes at a distance of 3cm from the pump orifice. The results showed droplet velocities near the center of the spray plume were higher and more consistent than those near the edge. The pumps examined showed significant differences in their aerosol velocity at the center of the spray plume, which suggest that this metric might be used as a discriminating parameter for in vitro testing of nasal sprays. Droplet size measurements performed using PDA were compared with results from laser light scattering measurements. The ability of PDA to provide simultaneous measurements of aerosol velocity and size makes it a powerful tool for the detailed investigation of nasal spray plume characteristics. Published by Elsevier B.V.